John Nganga
2018-2024
- jnganga@nd.edu
Education
Ph.D. University of Notre Dame
M.S. University of Notre Dame
B.S. Missouri University of Science and Technology
Research
I am particularly interested in dynamics, optimization, and control theory, as applied to walking robots. I aim to endow quadrupeds with ability to reliably walk in numerous environments without falling over. This goal is achieved via the optimization of walking gaits of the robot that is informed by the dynamics of the robot. This optimization needs to be fast and robust so that it can control the robot in providing fluid motions, avoiding falls, and allowing the robot to walk in new and unknown terrains. Such reliable robots can be used, for example, by firefighters to navigate collapsed buildings, to fight forest fights, all in search for human life. Furthermore, these robots can be used alongside astronauts to aid in the exploration of the interplanetary neighbors as we look toward becoming a multi-planetary species. As such, my current research focuses on developing robust and fast real-time control and optimization algorithms, known as model predictive control (MPC) algorithms, for quadrupeds without sacrificing computational cost. This goal is currently investigated by developing novel ways to add important dynamical information into MPC algorithms while also making the algorithms faster and more robust.
Award
NASA Space Technology Graduate Research Opportunity (NSTGRO) fellow (2021 - Present)
SMART Fellowship - Semifinalist (2020)
Pre-doctoral Ford Fellowship – Semi-Finalist (2019)
NSF GRFP - Honorable Mention (2019)
Dean's Fellowship (2018)
Publications
- Nganga, J. N., & Wensing, P. M. (2021). Accelerating second-order differential dynamic programming for rigid-body systems. IEEE Robotics and Automation Letters, 6(4), 7659-7666.
- Nganga, J. N., & Wensing, P. M. (2023). Accelerating Hybrid Systems Differential Dynamic Programming. ASME Letters in Dynamic Systems and Control, 1-9.
- Nganga, J. N., Li, H., & Wensing, P. M. (2023). Second-Order Differential Dynamic Programming for Whole-Body MPC of Legged Robots. Modeling, Estimation and Control Conference.
Life
I'm usually either watching a nature documentary or out hiking somewhere. I aim to hike through every national park in North America. When I'm not exploring, I'm a beekeeper—it's a job that comes with a lot of buzz (Send Bee Puns!). I've also got a knack for woodworking/carpentry or just working with my own hands.