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About

Wojciech Blajer is a leading figure in multibody dynamics and control, renowned for his geometric approach to solving constrained motion problems. His research centers on the synthesis of motion and force control, particularly in robotic locomotion and mechanical systems with prescribed trajectories. Blajer’s seminal 2004 paper, "A Geometric Approach to Solving Problems of Control Constraints," with 134 citations, established a rigorous differential-algebraic equation (DAE) framework that unifies modeling and control design for systems under holonomic and nonholonomic constraints. His earlier 1992 work on impactless bipedal walking (66 citations) pioneered the treatment of walking as a combined motion/force control problem, proposing a method to avoid ground impacts by simultaneously controlling the biped’s motion and ground reactions—a foundational contribution to humanoid robotics. Blajer also advanced inverse simulation techniques for aircraft trajectory planning (2009) and dynamic analysis of cranes (2007), demonstrating the versatility of his DAE-based formulations. His work bridges theoretical mechanics and practical control engineering, offering powerful tools for analyzing constrained multibody systems in robotics, aerospace, and mechanical design.