Papers
10
Total Citations
703
H-Index
7
About
Jesper Smith is a leading roboticist whose work has fundamentally advanced the control and locomotion of humanoid robots, particularly through his integral role at the Florida Institute for Human & Machine Cognition (IHMC). His primary research areas include momentum-based control frameworks, bipedal walking efficiency, and real-time robot control systems. Smith’s most significant contribution is the design of a momentum-based control framework for floating-base robots, applied to the Atlas humanoid (255 citations), which uses a quadratic program to reconcile motion tasks with physical limitations. He was a key member of Team IHMC during the DARPA Robotics Challenge (DRC), where the team consistently placed first or second overall across all three phases. His papers documenting the team’s lessons learned from both the DRC Trials (242 citations) and the Finals (51 citations) provide invaluable insights into disaster-response robotics. Smith also contributed to energy-efficient bipedal design with the WANDERER robot (25 citations) and pioneered the use of Java for real-time humanoid control (13 citations), demonstrating that high-level languages can reliably manage complex, 150kg robots in competitive environments.
Research Focus
Key Achievements
Top Papers
- 1
- 2Team IHMC's Lessons Learned from the DARPA Robotics Challenge Trials242 citations · 2015
- 3Summary of Team IHMC's virtual robotics challenge entry86 citations · 2013
- 4
- 5Achieving Versatile Energy Efficiency With the WANDERER Biped Robot25 citations · 2020
- 6
- 7Real-Time control of Humanoid Robots using OpenJDK13 citations · 2014
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