Robert Morgan

The Ohio State University, Tewkesbury Community Hospital

Papers

Total Citations

273

H-Index

About

Robert Morgan is a pioneering figure in robotics and control systems, whose work has fundamentally shaped the design of robotic manipulators and hydraulic actuation. His research spans decentralized control algorithms, sliding mode control, and high-performance hydraulic systems for legged robots and manipulators. Morgan’s most influential contribution is his 1985 paper on decentralized variable structure control for robotic manipulators, which introduced novel methods to achieve sliding modes for both position control and trajectory following. This work, cited 199 times, remains a cornerstone in robust control theory, offering solutions to reduce non-ideal characteristics in dynamic systems. More recently, his 2018 paper on highly-integrated hydraulic smart actuators and smart manifolds for high-bandwidth force control has garnered 74 citations, reflecting his ongoing impact in advancing force and impedance control—critical for modern robotics. By enabling high power density and robustness in hydraulic systems, Morgan’s innovations have directly influenced the development of agile, force-controlled robots. His career demonstrates a rare blend of foundational theory and practical engineering, making him a key reference for students and researchers exploring decentralized control, hydraulic actuation, or robotic manipulation.