Patrick Deegan

Papers

Total Citations

126

H-Index

About

Patrick Deegan is a pioneering roboticist whose work centers on dynamic mobile manipulation, whole-body postural control, and the design of compact, force-sensitive robotic platforms. His most influential contribution is the development of the UMASS uBot-4, a two-wheeled, self-stabilizing bimanual mobile manipulator. This robot, detailed in his highly cited 2006 paper (59 citations), broke from the tradition of large, statically stable bases by demonstrating that a small, cost-effective platform could achieve dynamic stability, whole-body postural control, and dexterous manipulation through force-sensing actuators and dual 4-DOF arms. Deegan’s complementary work on static analysis of contact forces (45 citations) provided foundational methods for understanding how such dynamically stable robots interact with their environment, enabling safer and more effective manipulation. His research has significantly advanced the field of mobile manipulation, proving that compact, agile robots can perform complex tasks previously reserved for larger, heavier systems. By addressing the challenges of real-time control in nonlinear environments, as explored in his work on software mode changes, Deegan has helped pave the way for more responsive and adaptable robotic systems, leaving a lasting impact on the design of interactive, human-safe robots.