Alan S. Morris

About

Alan S. Morris is a distinguished robotics and control systems researcher whose career has centered on advancing intelligent control strategies for complex robotic manipulators. His work spans several interconnected domains, including flexible and elastic robot dynamics, multi-robot trajectory planning, and the application of soft computing techniques — such as neural networks, fuzzy logic, and genetic algorithms — to challenging control problems. Morris made early contributions to neuro-adaptive control of robotic manipulators as far back as 1993, recognizing the power of neural networks to handle uncertainty in dynamic systems. His 1996 book on neural networks for robotic control further cemented his role as an educator and synthesizer in the field. A particularly impactful strand of his research involves collaborative robot manipulators sharing workspaces; his fuzzy-GA trajectory planning approach (2006, 86 citations) elegantly addressed the complex problem of robots treating one another as unpredictable moving obstacles. His work on flexible-link and elastic-joint manipulators, employing singular perturbation techniques and GA-tuned fuzzy controllers, has been widely cited by researchers tackling the notorious complexity of underactuated robotic systems. With foundational contributions accumulating hundreds of citations across three decades, Morris remains an influential figure in intelligent robotics research.

Research Focus

Key Achievements

Top Papers

1. 1
   Fuzzy-GA-based trajectory planner for robot manipulators sharing a common workspace

   86 citations · 2006
2. 2
   Soft computing methods applied to the control of a flexible robot manipulator

   78 citations · 2008
3. 3
   Using short-time Fourier transform and wavelet packet filter banks for improved frequency measurement in a Doppler robot tracking system

   57 citations · 2002
4. 4
   Singular perturbation approach to trajectory tracking of flexible robot with joint elasticity

   46 citations · 2003
5. 5
   Neuro-adaptive control of robotic manipulators

   46 citations · 1993
6. 6
   Genetic Algorithm Tuned Fuzzy Logic Controller for a Robot Arm with Two-link Flexibility and Two-joint Elasticity

   30 citations · 2007
7. 7
   Neural networks for robotic control : theory and applications

   25 citations · 1996
8. 8
   Trajectory planning of multiple coordinating robots using genetic algorithms

   24 citations · 1996
9. 9
   Dynamic performance of robot manipulators under different operating conditions

   24 citations · 1990
10. 10
    Static and dynamic modelling of a two-flexible-link robot manipulator

    22 citations · 1996

Key Collaborators

Contact & Links