Benjamin Bokser

Carnegie Robotics (United States), Carnegie Mellon University

Papers

Total Citations

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About

Benjamin Bokser is a leading researcher in legged robotics, with a focus on proprioceptive sensing and dynamic stability. His work addresses fundamental challenges in robot locomotion, particularly for systems with point feet. In his highly cited 2023 paper, "Multi-IMU Proprioceptive Odometry for Legged Robots" (22 citations), Bokser introduced a low-cost, multi-IMU approach that achieves accurate, low-drift position and velocity estimation without relying on external sensors—a breakthrough for long-term autonomy in unstructured environments. Complementing this, his paper "Enhanced Balance for Legged Robots Using Reaction Wheels" (11 citations) pioneers the use of reaction wheel systems, inspired by spacecraft attitude control, to dramatically improve quadrupedal balance during dynamic tasks. By integrating centroidal dynamics with aerospace-inspired models, Bokser has opened new pathways for robust locomotion on challenging terrain. His work is notable for its practical, sensor-driven solutions that reduce hardware complexity while enhancing performance. With a growing citation impact, Bokser is shaping the future of agile, self-contained legged robots for real-world applications.