My research interests are robot dynamics and control: particularly, locomotion and manipulation. Developing robots that are agile, reliable and safe depends directly on addressing the challenges of underactuation and stochasticity that are inherently present in real-world robot interactions both with the environment and with humans. My work focuses on modeling and controlling such dynamics. Example applications include rough terrain legged locomotion, supervised autonomy, and tuned-impedance control for flapping-wing flight.