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Kevin LynchChair and Professor of Mechanical EngineeringDirector, Center for Robotics and Biosystems

Editor-in-Chief, IEEE Transactions on Robotics

Research Interests: Robotics, particularly dynamics, motion planning, and feedback control of mechanical systems; mechanics, planning, and control of robotic manipulation (juggling, throwing, pushing, rolling, vibration, etc.) and locomotion; self-organizing systems, particularly decentralized control of mobile sensor networks and swarm robotics; underactuated dynamic systems; physical human-robot interaction; industrial applications.

1989-1996, Carnegie Mellon University
Ph.D. in Robotics, February 1996
Thesis: Nonprehensile Robotic Manipulation: Controllability and Planning
Advisor: Prof. Matthew T. Mason

1985-1989, Princeton University
B.S.E. with honors, Electrical Engineering, June 1989

ME 449 Robotic Manipulation (see the Modern Robotics website for more information on the book, videos, software, and online courses) 

Coursera Online Specialization on Modern Robotics

Past:

 

George, J., M. L. Elwin, R. A. Freeman, and K. M. Lynch, "Distributed Fault Detection and Accommodation in Dynamic Average Consensus", 2018 American Control Conference (ACC), United States, Institute of Electrical and Electronics Engineers Inc., pp. 5019–5024, 8, 2018. Google Scholar 

Elwin, M. L., R. A. Freeman, and K. M. Lynch, "Distributed Voronoi Neighbor Identification From Inter-Robot Distances", IEEE Robotics and Automation Letters, vol. 2, pp. 1320-1327, July, 2017. Google Scholar 

Shi, J., J. Z. Woodruff, P. Umbanhowar, and K. M. Lynch, "Dynamic In-hand Sliding Manipulation", IEEE Transactions on Robotics, vol. 33, issue 4, pp. 778-795, 08/2017. 

Woodruff, J. Z., and K. M. Lynch, "Planning and Control for Dynamic, Nonprehensile, and Hybrid Manipulation Tasks", IEEE International Conference on Robotics and Automation, Singapore, 05/2017. Google Scholar 

Rosa, N., and K. M. Lynch, "Using Equilibria and Virtual Holonomic Constraints to Generate Families of Walking Gaits", Dynamic Walking Conference, Mariehamn, Finland, 06/2017. Google Scholar 

Lynch, K. M., N. D. Marchuk, and M. L. Elwin, Embedded Computing and Mechatronics with the PIC32 Microcontroller, , Oxford, Newnes, 2016. Google Scholar 

Elwin, M. L., R. A. Freeman, and K. M. Lynch, "Environmental Estimation with Distributed Finite Element Agents", 55th IEEE Conference on Decision and Control, pp. 5918–5924, Dec, 2016. Google Scholar 

Shi, J., J. Z. Woodruff, and K. M. Lynch, "Dynamic In-hand Sliding Manipulation", Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, Hamburg, Germany, IEEE, pp. 870 - 877, Sept. 2015. Google Scholar 

Rosa, N., and K. M. Lynch, "Extending Equilibria to Periodic Orbits for Walkers using Continuation Methods", 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014. Google Scholar 

Schearer, E. M., Y. W. Liao, E. Perreault, M. Tresch, W. Memberg, R. Kirsch, and K. M. Lynch, "Identifying Inverse Human Arm Dynamics Using a Robotic Testbed", 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014. Google Scholar 

Liao, Y. W., E. M. Schearer, E. Perreault, M. Tresch, and K. M. Lynch, "Multi-Muscle FES Control of the Human Arm for Interaction Tasks—Stabilizing with Muscle Co-Contraction and Postural Adjustment: A Simulation Study", 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014. Google Scholar 

Schearer, E. M., Y. W. Liao, E. Perreault, M. Tresch, W. Memberg, R. Kirsch, and K. M. Lynch, "Multi-Muscle FES Force Control of the Human Arm for Arbitrary Goals", IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 22, issue 3, pp. 1-10, 05/2014. Google Scholar 

Elwin, M. L., R. A. Freeman, and K. M. Lynch, "Worst-Case Optimal Average Consensus Estimators for Robot Swarms", Intelligent Robots and Systems (IROS), 2014 IEEE/RSJ International Conference on, 2014. Google Scholar 

Neveln, I. D., Y. Bai, J. B. Snyder, J. R. Solberg, O. M. Curet, K. M. Lynch, and M. A. MacIver, "Biomimetic and bio-inspired robotics in electric fish research", Journal of Experimental Biology, issue 216, pp. 2501-2514, 06/2013. Google Scholar

Hwang, M., M. L. Elwin, P. Yang, R. A. Freeman, and K. M. Lynch, "Experimental Validation of Multi-Agent Coordination by Decentralized Estimation and Control", Networking Humans, Robots, and Environments: Bentham Science, 2013. Google Scholar 

Liao, Y. W., E. M. Schearer, X. Hu, E. Perreault, M. Tresch, and K. M. Lynch, "Modeling Open-Loop Stability of a Human Arm Driven by a Functional Electrical Stimulation Neuroprosthesis", 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013. Google Scholar 

Rosa, N., and K. M. Lynch, "Open-loop Stability of Time-based vs. Event-based Switching in Locomotion", Dynamic Walking Conference, 2013. Google Scholar 

Rosa, N., and K. M. Lynch, "The Passive Dynamics of Walking and Brachiating Robots: Results on the Topology and Stability of Passive Gaits", International Conference on Climbing and Walking Robots, 2013. Google Scholar 

Elwin, M. L., R. A. Freeman, and K. M. Lynch, "A Systematic Design Process for Internal Model Average Consensus Estimators", Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on, Dec, 2013. Google Scholar 

Ryu, J. C., F. Ruggiero, and K. M. Lynch, "Control of nonprehensile rolling manipulation: Balancing a disk on a disk", Robotics and Automation (ICRA), 2012 IEEE International Conference on: IEEE, pp. 3232–3237, 2012. Google Scholar 

Umbanhowar, P., T. T. H. Vose, A. Mitani, S. Hirai, and K. M. Lynch, "The effect of anisotropic friction on vibratory velocity fields", Robotics and Automation (ICRA), 2012 IEEE International Conference on: IEEE, pp. 2584–2591, 2012. Google Scholar 

Vose, T. T. H., P. Umbanhowar, and K. M. Lynch, "Manipulation with Vibratory Velocity Fields on a Tilted Plate", IEEE Conference on Automation Science and Engineering, 2012. Google Scholar 

Gregg, R. D., Y. Dhaher, A. Degani, and K. M. Lynch, "On the Mechanics of Functional Asymmetry in Bipedal Walking", IEEE Transactions on Biomedical Engineering, vol. 59, no. 5, pp. 1310–1318, 2012. Google Scholar

Baker, E., T. Reissman, F. Zhou, C. Wang, K. M. Lynch, and C. Sun, "Microstereolithography of Three-Dimensional Polymeric Springs for Vibration Energy Harvesting", Smart Materials Research: Hindawi Publishing Corporation, 2012. Google Scholar 

Schearer, E. M., Y. W. Liao, E. Perreault, M. Tresch, and K. M. Lynch, "Optimal Sampling for Identifying Models for FES Control of Neuroprostheses", International Functional Electrical Stimulation Conference, 2012. 

Schearer, E. M., Y. W. Liao, E. Perreault, M. Tresch, and K. M. Lynch, "Optimal Sampling of Recruitment Curves for Functional Electrical Stimulation Control", 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012. Google Scholar  

Lynch, K. M., and P. Umbanhowar, Parts manipulation method and apparatus, , vol. US 8,230,990 B2, no. 11/724,607, 07/2012. Google Scholar 

Rosa, N., A. Barber, R. D. Gregg, and K. M. Lynch, "Stable open-loop brachiation on a vertical wall", Robotics and Automation (ICRA), 2012 IEEE International Conference on: IEEE, pp. 1193–1199, 2012. Google Scholar 

Schearer, E. M., Y. W. Liao, E. Perreault, M. Tresch, W. Memberg, R. Kirsch, and K. M. Lynch, "System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation", Robotics and Automation (ICRA), 2012 IEEE International Conference on: IEEE, pp. 3698–3705, 2012. Google Scholar 

Gregg, R. D., A. Degani, K. M. Lynch, and Y. Dhaher, "The basic mechanics of bipedal walking lead to asymmetric behavior", IEEE Int. Conf. on Rehab. Robotics, Zurich, Switzerland, 2011. Google Scholar

CV (2019)
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