In this episode, I talk to Professor William Holderbaum about some of the many fascinating areas of research he’s involved in, including Boolean control, geometric control, and control of electroactive polymer gels—plus a lot more!
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PhD research

PhD Thesis (in French)
Boolean Control Using State-Space Approach
Neural Networks for Boolean Control
PID Control of Boolean Systems
Predictive Control
Sliding Mode Control

FES work

Coffee and Control Episode with Chris Freeman
Professor Ken Hunt
FES for Paraplegic Standing
Adaptive PID
Sliding Mode Control

FES muscle fatigue papers

Chapter 5 of this Thesis
PubMed Paper 1
PubMed Paper 2
IEEE Explore Paper
Fatigue reduction with soft robotics

Geometric control

Resources for Understanding Geometric Control
Lecture Slides
YouTube Video
6D Lie Groups
Application to Spacecraft
Time-Parameterized Motion Planning

Control of RTG cranes

Optimal Control and MPC
Fuzzy Logic Control

Electroactive polymer gels

Paper 1
Paper 2
Springer Chapter


Model-Based Control of Soft Robots
Arm with Self-Control Feedback Loop

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