I have a robotics and biomechanics
lab. I teach basic mechanics and math classes. My main recent research is
the mechanics of coordination, particularly legged locomotion. I am interested
in classical rigid-object dynamics especially contact (collisions,
friction, non-holonomic constraints). I used to work mostly on friction laws,
and sliding instability. I have also worked on dynamical systems, bicycles,
solid mechanics, and fracture. I usually prefer simple and ideal models.
My degrees are from Engineering at Brown (ScB. 76, ScM. 78, Ph.D. 81).
I was an NSF Presidential Young Investigator.
Research and Lab
Robots, locomotion
papers, bikes, friction
& fracture, information
for students .
Things I am or was at least partially responsible for
Text
Book: Introduction to Statics and Dynamics (In progress, still)
Dynamic Walking III: Principles of
Legged Locomotion,
meeting on the Åland islands, June 24-30, 2007.
Animal Coordination
seminar: Weekly meeting on topics related to animal coordination research
at Cornell.
- First
year schedule
TAM Seminars: Working document for planning
seminars in 02-03 season.
RIBs: Recycle Ithaca's Bicycles is a money-free
program that helps people fix and earn bicycles.
Courses
TAM 202: (Spring
03, Fall 02, Spring
01, A sophomore statics and strength of solids class.
TAM 203: (Spr 09, Fall 08, Spring
08, Spr
07, Fall
06, Spr
06, Fall
04,
Spr 02, Fall
2000, Spr
2000, Spr 97) A sophomore
dynamics class.
TAM 570: (Fall 2000),
Introduction to analytical mechanics.
TAM 663: Intro to Solid Mechanics (Notes from about 1990)
MAE 325: (Fall 1999), A junior mechanical
engineering design analysis class.
MAE 662: (Spring 2003), Mechanics
of Terrestrial Locomotion.
TAM 674: (Spring 2003),
Applied Multibody Dynamics, (taught by HP lab visitor from Delft
Arend
Schwab).
MATH 293: (Fall 1996), A sophomore
math class.
MATH 294: Spring 2009, linear algebra on Blackboard (Class
access only), Videos of
lectures.
MATH 191: (Fall
2005, Wang), First semester calculus
Moonbuggy:
A student
team building a human-powered rough-terrain vehicle (Moonbuggy
mirror site).
Course Related
MATH 293 & 294
problems: A
compilation of hundreds of prelim problems from MATH 293 and MATH 294.
Cornell Academic Calender for writing
syllabi (plain text, all class meeting dates and all holiday dates).
Spring and Fall 2009.
Me
Cornell maintained
website
Personal information (Addresses, relatives,
where I've lived,
India contacts, etc.)
Schedule, Finland
info, Photos (Random, incomplete and mostly
non-work.)
