People of the Leg Laboratory
People working in the Leg Laboratory are legged locomotion enthusiasts
of all stripes. They represent several disciplines, including electrical
engineering, mechanical engineering, computer science, physics,
biomechanics, and aero/astro.
PI -- Students --
Staff -- Grads --
- Gill Pratt
is director of the Leg Laboratory. He is Assistant Professor of Electrical
Engineering and Computer Science and a member of the Laboratory for
Computer Science and Artificial Intelligence Laboratory.
Pratt studies the application of novel control techniques to legged robot
locomotion. He and Peter Dilworth designed and built Spring Turkey
for this work. Jerry finished designing and building Spring Flamingo
in 1996 to replace Spring Turkey.
Robert Ringrose finished his PhD thesis, Running Without
- Chee-Meng Chew
is working on his Mechanical Engineering Master's Degree on Rough
terrain walking for 2D bipedal robot.
- George Homsy
Wessler is currently working for Al Gore in Washington...
Bryson is interested in "cognitive" control architectures. She
is currently working on wheeled robots in Edinburgh, Scotland, but
will be returning to the Leg Lab in 1997 to finish her PhD.
Williamson is a PhD student working on the arms for Cog using a related
approach to our recent walking robots. His MSc was advised by Gill
Pratt, and he's co-authored some of our recent publications.
- Marc Raibert founded the Leg Laboratory in 1980
and directed it through 1995. The Lab was originated at CMU when Marc was
Associate Professor in Computer Science and the Robotics Institute, and it
moved to MIT in 1986 when Marc became Professor of Electrical Engineering
and Computer Science and a member of the Artificial Intelligence Lab.
He is now president of the company he co-founded, Boston Dynamics, Inc.
worked on his MEng with the Recti-Blob.
- Ann Torres
worked on hexapod simulation.
- Abbe Cohen was a UROP working on feet and ankles for the 2-d bipeds.
- Adam Crane did UROP work and his Senior Thesis in the Leg Lab, and
helped out with several other projects. Adam is currently hacking computer
creatures at Boston Dynamics, Inc.
- Anthony J. Stentz
Ben Brown was the key mechanical designer for many of the Leg Lab robots.
He is currently on the staff at the Robotics Institute at Carnegie-Mellon
- Charles Francois made the uniroo run at 2 m/s. He is currently
working on his PhD at
INRIA Sophia Antipolis, France.
- Chris Wren did
his Senior Thesis in the Leg Lab using physics-based simulation to model a
tree blowing in the wind. After graduating and spending a year at BDI,
Chris jointed the Media Lab as a graduate student.
- Clay Thompson worked on passive dynamic running.
- Daniell Hebert worked on the Zero Gravity machine.
- Dave Barrett was a mechanical designer in the Leg Lab for three years.
He is currently working on swimming robots in the MIT Department of Ocean
Bailey worked on Geekbot looking at smooth transfer of support for his
M.S. Thesis. He is currently working at Sarcos Research Corporation.
- Eugene Hastings
- Francis C. Wimberly
- Garth Zeglin built the uniroo and first made it hop. He
is currently a graduate student in Matt Mason's lab at CMU.
- Jeff Koechling did his PhD thesis studying the limits of robot running
speed. As part of that work he programmed the planar biped to run fast: It
set the world land speed record for legged robots by running over 13 mph.
Jeff is currently Chief Scientist at Boston
- Jeffrey Miller
- Jessica Hodgins did her PhD thesis in the Leg Lab, working
on foot placement for the planar biped. In the course of doing her thesis,
she programmed the planar biped to run up and down a set of three steps.
She also helped make the planar biped do front somersaults. After her PhD
thesis she did a one-year postdoc in the lab working on animated
characters. She is currently a professor in the College of Computing and a
member of the Graphics Visualization and Usability Center at Georgia
Institute of Technology, Atlanta, GA, where she runs their Animation Lab.
- Jiping He
Leeser completed a Master Thesis in the Leg Lab in 1996. He studyied
the role of an articulated spine in quadruped running, including
construction and experiments with the Planar Quadruped.
- Karl Murphy did a Master's Thesis in the Lab when it was at CMU on
coupled oscillation in bounding.
- Kenneth Y. Goldberg
- Lance Borvansky did a Master's Thesis simulating ostrich running.
- Lee Campbell worked on "On The Run", and helped
with a variety of projects. He is currently working at the MIT Media
Lab on the taxonomy of classes of human motion using vision.
- Martin Buehler was a postdoc in the lab, working on the quadruped
and kangaroo robots. He is currently a professor at the Centre for Intelligent Machines ,
- Michael Chepponis was the key software guy for many of the early Leg
Lab robots. He is currently at California Wireless Inc. in Santa Clara.
Michael Saginaw worked on electronics and force control.
- Mitchell London worked in the lab as an undergraduate at CMU. He is
the founder of Connect Software in Redmond, Washington,
- Robert Playter did his PhD Thesis in the Leg Lab in 1994. His thesis
examined passive methods for stabilizing gymnastic maneuvers. He
programmed the 3D-Biped robot to do somersaults. Rob now works at Boston Dynamics, Inc. He was a champion
collegiate gymnast in 1985, with one hell of a high bar routine: Part I(696K MPEG) , Part II(986K MPEG).
- Seth Holler worked on gymnastics simulations as a UROP.
- Steven E. Shreve
- Seshashayee S. Murthy
- Takashi Aoki spent 18 months in the Leg Lab as a visitor from Fujitsu.
He worked on the 3D biped and on the Lab's early animation projects.
Lee gave the monopod a flexible foot.
- Zexiang Li was a postdoc in the lab, developing the theory of
The Leg Lab crew on the set of Rising Sun at 20th Century Fox. We
ended up wearing white lab coats in the movie. (From left: Charles
Francois, Lee Campbell, Rob Playter, Marc Raibert.)
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1997 MIT Leg Laboratory. All Rights Reserved.
Most recent update: 8/19/97