Rodrigo Abrajan-Guerrero

University of North Carolina at Charlotte

Papers

Total Citations

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About

Rodrigo Abrajan-Guerrero is a robotics researcher specializing in the locomotion and control of non-holonomic and underactuated systems, with a particular focus on snake robots and bio-inspired swimming devices. His work addresses the fundamental challenge of achieving purposeful motion in robots that have fewer control inputs than degrees of freedom, often due to passive joints or elastic compliance. In his most-cited paper (26 citations), he introduced a novel approach to controlling multi-link snake robots with passive joints, demonstrating that effective locomotion is possible without commanding all degrees of freedom—a key insight for simplifying robot design and control. His 2018 study on an articulated swimming robot (4 citations) showed that a three-link device with a single actuated joint and an elastic joint could achieve translation and rotation through sinusoidal deformations, highlighting the role of compliance in aquatic locomotion. Abrajan-Guerrero also contributed to the experimental validation of motion control strategies for the Chaplygin beanie, a single-input non-holonomic vehicle. His research bridges theoretical mechanics and practical robotics, offering elegant solutions for controlling complex, underactuated systems.