N. Harris McClamroch
Papers
16
Total Citations
1,345
H-Index
11
About
N. Harris McClamroch is a distinguished robotics and control systems researcher whose career has fundamentally advanced our understanding of constrained robot dynamics and feedback control. His most celebrated contribution, "Feedback Stabilization and Tracking of Constrained Robots" (1988), has garnered over 700 citations and established rigorous mathematical frameworks for controlling robots subject to physical constraints — a problem of central importance in industrial automation, surgical robotics, and space systems. His pioneering 1986 work on singular systems of differential equations (243 citations) introduced differential-algebraic equation models as natural descriptors for contact-constrained robot systems, reshaping how researchers formulate and analyze such problems. McClamroch's research consistently bridges abstract mathematics and practical engineering: he explored time-optimal contour following, singular perturbation methods for stiff environments, and adaptive motion control for free-flying space robots. His investigations into underactuated space robots and prismatic actuator systems reflect a sustained interest in challenging, real-world robotic configurations. Across his career, his publications have accumulated well over 1,300 citations, reflecting deep and lasting influence on the robotics and nonlinear control communities. Students studying constrained mechanical systems or robot-environment interaction will find his foundational papers essential reading.
Research Focus
Key Achievements
Top Papers
- 1Feedback stabilization and tracking of constrained robots703 citations · 1988
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- 4Time-optimal control for a robotic contour following problem80 citations · 1988
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- 10Feedback Stabilization and Tracking of Constrained Robots13 citations · 1987