Structural Systems and Control Laboratory
Department of Mechanical and Aerospace
University of California, San Diego
La Jolla, CA 92093-0411
Phone: (858) 822-2020
FAX: (858) 822-3107
Office: EBU I 2113
Curriculum Vitae: PDF File
Research Interests | Education |
Academic Experience |
Publications | Professional Experience
mechatronics and robotics
Nonlinear control of
articulated multibody objects
Piezoelectric mechanisms and devices
Optimal control for snake-like robots driven by tensegrity networks
Mathematical analysis and optimization theory
University of California, San Diego, La Jolla, California USA
- C.Phil., Mechanical Engineering, 2003.
- Advisor: Robert E. Skelton
- B.S., Applied Mechanics (Structural Engineering), Cum Laude, 1991.
Massachusetts Institute of
Technology, Cambridge, Massachusett USA
M.S., Aeronautics and Astronautics, 1993.
Bertha Lebus Scholarship,
Future Educators Award, 2003-04.
University of California, San Diego, La
Jolla, California USA
Assistant/Graduate Student, Structural Systems and Control Lab 1997 - present
Derived rigid-body kinematics and
dynamics for hyper-redundant robots driven by
tensegrity networks. Designed optimal
path-planning, minimum-time/energy control and nonlinear feedback for new
class of tendon-driven robots. Developed nonlinear compensators to enable artificial
muscle implementation for tensegrity actuation
- Teaching Assistant, Mechanical
and Aerospace Engineering Department
Partial Differential Equations, 2. Formal Systems in
Logic and Language, 3. Linear Control Theory, 4.
Experimental Techniques (Controls Lab).
Space Engineering Research
Center, MIT, Cambridge, Massachusetts USA
Powell Earthquake Engineering
Lab, UCSD, La Jolla, California USA
Aldrich, J.B., Skelton, R.E.,
“Input and State Redundancy Resolution for manipulators driven by tensegrity networks”, IEEE Transactions on
Robotics and Automation, (In preparation).
Aldrich, J.B., Skelton, R.E., Kreutz-Delgado,
K., “Control Synthesis
for a Class of Light and Agile Robotic Tensegrity
Structures”, Proceedings of 2003 American Control Conference, Denver,
Aldrich, J.B., Skelton, R.E.,
“Control/Stucture Optimization Approach for
Minimum-time Reconfiguration of
Tensegrity Systems”, Smart Structures and Materials: Modeling,
Signal Processing and Control, San Diego, CA, Proceedings of SPIE Vol. 5049
(2003), pages 448-459.
Aldrich, J.B., Hagood, N.W., von Flotow, A., “Design of Passive Piezoelectric
Damping for Large Space Structures”, Smart Structures and Intelligent
Systems, Albuquerque, NM, Proceedings of SPIE Vol. 1917, pages 692-705, 1993.
- I began work as a construction engineer
building and testing retrofitted bridge prototypes at
UCSD's Powell Earthquake Engineering Lab. This work was instrumental
in my receipt of a graduate research appointment at the Massachusetts
Institute of Technology where I designed, built and tested a vibration-control
device using piezoelectrics for a NASA-funded
telescope. After graduating from M.I.T. with an M.S. degree in Aeronautics
and Astronautics in 1993, I worked with a team of engineers at TransScience, Inc., in
developing the first 100% advanced aerospace composite cable-stayed bridge.
In 1997, I returned to U.C. San Diego to investigate a new approach to
biologically-inspired robots and am now set to graduate with a Ph.D. degree in
Mechanical Engineering in 2004.