Michael Puopolo

Oklahoma State University, Kettering University

Papers

Total Citations

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About

Michael Puopolo is a robotics researcher whose work centers on novel locomotion strategies for unconventional mobile robots, with a particular focus on shape-changing mechanisms for rolling platforms. His major contributions lie in the development of cylindrical rolling robots that achieve controlled motion by dynamically altering their outer surface geometry. In his 2016 paper, "Velocity control of a cylindrical rolling robot by shape changing," Puopolo introduced a robot with an elliptical shell that could change shape to create a gravity-powered torque imbalance, enabling acceleration and braking with onboard angular position and velocity feedback. This work, cited 6 times, laid the foundation for a more refined system in his 2018 follow-up, "Locomotion of a Cylindrical Rolling Robot with a Shape Changing Outer Surface," which achieved 5 citations. Here, he demonstrated how the robot generates roll torque by flexing its elliptical surface at specific trigger angles, integrating a sensing and control system for autonomous operation. Puopolo’s research is notable for its creative approach to passive-dynamic locomotion, offering a minimalist yet effective alternative to traditional wheeled or legged robots. His work has implications for exploration in rugged terrains and compact robotic systems, showcasing how simple mechanical adaptations can yield sophisticated control.