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