Bio


Kenneth J. Waldron is Professor of Mechanical and Mechatronic Engineering at UTS. He is also Professor Emeritus from the Design Group in the Department of Mechanical Engineering of Stanford University. He holds bachelors and masters degrees from the University of Sydney, and PhD from Stanford. He works in machine design, and design methodology with a particular focus on robotic and mechatronic systems.

Academic Appointments


  • Emeritus Faculty, Acad Council, Mechanical Engineering
  • Member, Bio-X

All Publications


  • Professional interactions with Professor Erskine Crossley MECHANISM AND MACHINE THEORY Waldron, K. J., Jacobs, D. A. 2015; 89: 72-74
  • Modeling Inelastic Collisions With the Hunt-Crossley Model Using the Energetic Coefficient of Restitution JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS Jacobs, D. A., Waldron, K. J. 2015; 10 (2)

    View details for DOI 10.1115/1.4028473

    View details for Web of Science ID 000351349700001

  • AN ACTUATED CONTINUOUS SPRING LOADED INVERTED PENDULUM (SLIP) MODEL FOR THE ANALYSIS OF BOUNCING GAITS Conference on Climbing and Walking Robots (CLAWAR) Jacobs, D. A., Park, L. J., Waldron, K. J. WORLD SCIENTIFIC PUBL CO PTE LTD. 2013: 463–470
  • Heuristic control of bipedal running: steady-state and accelerated ROBOTICA Perkins, A. D., Waldron, K. J., Csonka, P. J. 2011; 29: 939-947
  • Characterization of an Electric-Pneumatic Hybrid Prismatic Actuator JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME Csonka, P. J., Waldron, K. J. 2010; 2 (2)

    View details for DOI 10.1115/1.4001087

    View details for Web of Science ID 000291996700008

  • Passively Stable Hopping of an Articulated Leg with a Tendon-Coupled Ankle IEEE/RSJ International Conference on Intelligent Robots and Systems Csonka, P. J., Perkins, A. D., Waldron, K. J. IEEE. 2010: 3404–3408
  • Static and Dynamic Maneuvers With a Tendon-Coupled Biped Robot 18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control Csonka, P. J., Waldron, K. J. SPRINGER-VERLAG WIEN. 2010: 265–72
  • Control of Bipedal Turning While Running 12th International Symposium on Advances in Robot Kinematics (ARK 2010) Perkins, A. D., Waldron, K. J. SPRINGER-VERLAG BERLIN. 2010: 301–308
  • The mechanics of biped running and a stable control strategy ROBOTICA Abdallah, M. E., Waldron, K. J. 2009; 27: 789-799
  • In memoriam: Kosuke Ishii RESEARCH IN ENGINEERING DESIGN Waldron, K. J. 2009; 20 (2): 143-144
  • Analyzing Bounding and Galloping Using Simple Models JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME Waldron, K. J., Estremera, J., Csonka, P. J., Singh, S. P. 2009; 1 (1)

    View details for DOI 10.1115/1.2959095

    View details for Web of Science ID 000207957300003

  • The state of the art of climbing and walking robots INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL Waldron, K. J. 2009; 36 (4): 313-313
  • Thrust control, stabilization and energetics of a quadruped running robot INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Estremera, J., Waldron, K. J. 2008; 27 (10): 1135-1151
  • Configuration Design of a Robotic Vehicle for Rough Terrain Mobility 15th International Conference on Mechatronics and Machine Vision in Practice Waldron, K. J., Hung, T. T., Madadnia, J. IEEE. 2008: 476–481
  • A Subgoal-Guided Force Field Method for Robot Navigation IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications Wang, D., Liu, D. K., Kwok, N. M., Waldron, K. J. IEEE. 2008: 488–493
  • A Unified Method for Multi-Body Systems Subject to Stick-Slip Friction and Intermittent Contact IEEE/RSJ International Conference on Intelligent Robots and Systems Perkins, A. D., Abdallah, M. E., Mitiguy, P., Waldron, K. J. IEEE. 2008: 2311–2316
  • An optimal traction control scheme for off-road operation of robotic vehicles IEEE-ASME TRANSACTIONS ON MECHATRONICS Waldron, K. J., Abdallah, M. E. 2007; 12 (2): 126-133
  • A hybrid motion model for aiding state estimation in dynamic quadrupedal locomotion IEEE International Conference on Robotics and Automation Singh, S. P., Waldron, K. J. IEEE. 2007: 4337–4342
  • THINKING ABOUT BOUNDING AND GALLOPING USING SIMPLE MODELS 10th International Conference on Climbing and Walking Robots (CLAWAR 2007) Waldron, K. J., Estremera, J., Csonka, P. J., Singh, S. P. WORLD SCIENTIFIC PUBL CO PTE LTD. 2007: 445–453
  • Robotic harness for the field assessment of galloping gaits IEEE/RSJ International Conference on Intelligent Robots and Systems Singh, S. P., Csonka, P. J., Waldron, K. J. IEEE. 2007: 4253–4258
  • A physical model and control strategy for biped running IEEE International Conference on Robotics and Automation Abdallah, M. E., Waldron, K. J. IEEE. 2007: 3982–3988
  • Stiffness and Duty Factor Models for the Design of Running Bipeds 10th International Conference on Climbing and Walking Robots (CLAWAR 2007) Abdallah, M. E., Waldron, K. J. WORLD SCIENTIFIC PUBL CO PTE LTD. 2007: 329–339
  • Optical flow aided motion estimation for legged locomotion IEEE/RSJ International Conference on Intelligent Robots and Systems Singh, S. P., Csonka, P. J., Waldron, K. J. IEEE. 2006: 1738–1743
  • Leg thrust control for stabilization of dynamic gaits in a quadruped robot 16th Symposium on Theory and Practice of Robots and Manipulators Estremera, J., Waldron, K. J. SPRINGER-VERLAG WIEN. 2006: 213–20
  • Towards high-fidelity on-board attitude estimation for legged locomotion via a hybrid range and inertial approach 9th International Symposium on Experimental Robotics (ISER) Singh, S. P., Waldron, K. J. SPRINGER-VERLAG BERLIN. 2006: 589–598
  • Stiffness and Texture Perception for Teledermatology 13th Conference on Medicine Meets Virtual Reality Waldron, K. J., Enedah, C., Gladstone, H. I O S PRESS. 2005: 579–585

    Abstract

    The goal of the teledermatology project currently being carried out at Stanford University is to deliver tactile images of the human skin to a dermatologist at a remote location, in real time. In order to make a diagnosis, dermatologists typically need to obtain data regarding the skin texture and the mechanical properties of any lesions on a patient's skin. For example, pre-cancerous or weather-damaged skin typically feels rougher than normal skin and the profile and stiffness of the underlying tissue may shed light on the nature of a skin disease.

    View details for Web of Science ID 000273828700114

    View details for PubMedID 15718801

  • Attitude estimation for dynamic legged locomotion using range and inertial sensors IEEE International Conference on Robotics and Automation (ICRA) Singh, S. P., Waldron, K. J. IEEE. 2005: 1663–1668
  • System design of a quadrupedal galloping machine 5th International Conference on Climbing and Walking Robots (CLAWAR 2002) Nichol, J. G., Singh, S. P., Waldron, K. J., Palmer, L. R., Orin, D. E. SAGE PUBLICATIONS LTD. 2004: 1013–27
  • Design of a leg system for quadruped gallop 11th World Congress in Mechanism and Machine Science Nichol, J. G., Palmer, L. R., Waldron, K. J. CHINA MACHINE PRESS. 2004: 87–91
  • Design and evaluation of an integrated planar localization method for desktop robotics IEEE International Conference on Robotics and Automation Singh, S. P., Waldron, K. J. IEEE. 2004: 1109–1114
  • Intelligent control of quadruped gallops IEEE-ASME TRANSACTIONS ON MECHATRONICS Marhefka, D. W., Orin, D. E., Schmiedeler, J. P., Waldron, K. J. 2003; 8 (4): 446-456
  • Proprioceptive control for a robotic vehicle over geometric obstacles 20th IEEE International Conference on Robotics and Automation (ICRA) Waldron, K. J., Arkin, R. C., Bakkum, D., Merrill, E., Abdallah, M. IEEE. 2003: 109–114
  • Coordination of an unmanned vehicle with active suspension over extreme terrain Conference on Unmanned Ground Vehicle Technology V Waldron, K. J., Abdallah, M. SPIE-INT SOC OPTICAL ENGINEERING. 2003: 371–379
  • Intelligent control of an experimental articulated leg for a galloping machine 20th IEEE International Conference on Robotics and Automation (ICRA) Palmer, L. R., Orin, D. E., Marhefka, D. W., Schmiedeler, J. P., Waldron, K. J. IEEE. 2003: 3821–3827
  • Mechanical characterization of the immersion Corp. Haptic, bimanual, surgical simulator interface 8th International Symposium on Experimental Robotics (ISER 02) Waldron, K. J., Tollon, K. SPRINGER-VERLAG BERLIN. 2003: 106–112
  • Simulated medical learning environments on the Internet JOURNAL OF THE AMERICAN MEDICAL INFORMATICS ASSOCIATION Dev, P., Montgomery, K., Senger, S., Heinrichs, W. L., Srivastava, S., Waldron, K. 2002; 9 (5): 437-447

    Abstract

    Learning anatomy and surgical procedures requires both a conceptual understanding of three-dimensional anatomy and a hands-on manipulation of tools and tissue. Such virtual resources are not available widely, are expensive, and may be culturally disallowed. Simulation technology, using high-performance computers and graphics, permits realistic real-time display of anatomy. Haptics technology supports the ability to probe and feel this virtual anatomy through the use of virtual tools. The Internet permits world-wide access to resources. We have brought together high-performance servers and high-bandwidth communication using the Next Generation Internet and complex bimanual haptics to simulate a tool-based learning environment for wide use. This article presents the technologic basis of this environment and some evaluation of its use in the gross anatomy course at Stanford University.

    View details for DOI 10.1197/jamia.M1089

    View details for Web of Science ID 000178205000002

    View details for PubMedID 12223496

    View details for PubMedCentralID PMC346631

  • Biomimetic leg design for untethered quadruped gallop 5th International Conference on Climbing and Walking Robots (CLAWAR 2002) Nichol, J. G., Waldron, K. J. PROFESSIONAL ENGINEERING PUBLISHING LTD. 2002: 49–54
  • Simulated learning environments in anatomy and surgery delivered via the Next Generation Internet 10th World Congress on Medical Informatics (MEDINFO 2001) Dev, P., Heinrichs, W. L., Srivastava, S., Montgomery, K. N., Senger, S., Temkin, B., Hasser, C., Latombe, J. C., HEEGAARD, J., Youngblood, P., Friedman, C. P., Waldron, K. I O S PRESS. 2001: 1014–1018

    Abstract

    The Next Generation Internet (NGI) will provide high bandwidth, guaranteed Quality of Service, collaboration and security, features that are not available in today's Internet. Applications that take advantage of these features will need to build them into their pedagogic requirements. We present the Anatomy Workbench and the Surgery Workbench, two applications that require most of these features of the NGI. We used pedagogic need and NGI features to define a set of applications that would be difficult to operate on the current Internet, and that would require the features of the NGI. These applications require rich graphics and visualization, and extensive haptic interaction with biomechanical models that represent bony and soft tissue. We are in the process of implementing these applications, and some examples are presented here. An additional feature that we required was that the applications be scalable such that they could run on either on a low-end desktop device with minimal manipulation tools or on a fully outfitted high-end graphic computer with a realistic set of surgical tools. The Anatomy and Surgery Workbenches will be used to test the features of the NGI, and to show the importance of these new features for innovative educational applications.

    View details for Web of Science ID 000172901700272

    View details for PubMedID 11604884

  • Massively parallel actuation IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 01) Yang, P. H., Waldron, K. J. IEEE. 2001: 868–873
  • From walking to galloping 3rd International Conference on Climbing and Walking Robots (CLAWAR 2000) Waldron, K. J. PROFESSIONAL ENGINEERING PUBLISHING LTD. 2000: 1–5
  • TECHNICAL DESCRIPTION OF THE ADAPTIVE SUSPENSION VEHICLE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH Pugh, D. R., RIBBLE, E. A., Vohnout, V. J., BIHARI, T. E., WALLISER, T. M., Patterson, M. R., Waldron, K. J. 1990; 9 (2): 24-42
  • Kinematics of a Hybrid Series-Parallel Manipulation System JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME Waldron, K. J., Raghavan, M., Roth, B. 1989; 111 (2): 211-221