Mark C. Readman

Papers

Total Citations

101

H-Index

About

Mark C. Readman is a robotics and control systems researcher whose career has been defined by pioneering contributions to the dynamics and control of flexible-joint robots. His seminal 1994 book, *Flexible Joint Robots*, remains a foundational reference in the field, systematically addressing modeling, joint torque feedback, acceleration control, robust control, and adaptive control — amassing 45 citations as a cornerstone text for researchers and engineers alike. Readman's earlier work laid the theoretical groundwork for this contribution. His 1990 paper on the analysis and control of flexible-joint robots established a rigorous framework modeling revolute joints as linear torsional springs, decomposing robot dynamics into coupled slow (rigid body) and fast subsystems — a formulation that became central to the field. His 1992 paper built directly on this, addressing the challenging problem of stabilizing fast dynamic modes, garnering 31 citations. Later, his 2002 investigation into high-gain acceleration feedback for flexible-joint robots demonstrated a continued commitment to practical control solutions. Collectively, Readman's work has shaped how engineers understand and manage the complexities introduced by joint flexibility in robotic systems, making his research essential reading for anyone studying advanced robot dynamics and control.