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people.html
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---
layout: default
title: People
---
<!-- Header -->
<head>
<!-- Global site tag (gtag.js) - Google Analytics -->
<script async src="https://www.googletagmanager.com/gtag/js?id=UA-148321121-1"></script>
<script>
window.dataLayer = window.dataLayer || [];
function gtag(){dataLayer.push(arguments);}
gtag('js', new Date());
gtag('config', 'UA-148321121-1');
</script>
<meta name="description" content="Current Members in the Murphey Lab at Northwestern University">
<meta name="keywords" content="murphey lab, robotics, murphey, machine learning, human machine, human robot, human robot interaction, active learning, optimal control, shared control, autonomy, robotic, robot, northwestern,emergent,cyber physical,information theory,ergodic,ergodicity,haptic,nonlinear systems, Todd Murphey, Murphey, Northwestern, Rebecca Abbott, Ian Abraham, Thomas Berrueta, Tommy Berrueta, Taosha Fan, Katie Fitzsimons, Ola Kalinowska, Giorgos Mamakoukas, Ana Pervan, Katarina Popovic, Ahalya Prabhakar, Kyra Rudy, Milli Schlafly, Annalisa Taylor">
<style>
div.polaroid {
width: 12em;
background-color: #f2f2f2;
}
div.container {
text-align: center;
}
</style>
</head>
<h1>People</h1>
<h2>Principal Investigator</h2>
<div class="row" align="center">
<a href="/people/toddmurphey">
<div class="polaroid">
<img src="/images/ToddMurphey.jpg" alt="Todd Murphey" style="bottom-margin=-2em">
<div class="container">
<h5>Todd Murphey</h5>
</div>
</div>
</a>
</div>
<h2>Ph.D. Students</h2>
<div class="row" style="text-align:center">
<div class="column1">
<a href="/people/jamesavtges">
<div class="polaroid">
<img src="/images/JamesAvtges.jpg" alt="James Avtges" style="bottom-margin=-2em">
<div class="container">
<h5>James Avtges</h5>
</div>
</div>
</a>
</div>
<div class="column1">
<a href="/people/ayushgaggar.html">
<div class="polaroid">
<img src="/images/gaggar_ayush.png" alt="Ayush Gaggar" style="bottom-margin=-2em">
<div class="container">
<h5>Ayush Gaggar</h5>
</div>
</div>
</a>
</div>
<div class="column1">
<a href="/people/jakeketchum">
<div class="polaroid">
<img src="/images/JakeKetchum.jpg" alt="Jake Ketchum" style="bottom-margin=-2em">
<div class="container">
<h5>Jake Ketchum</h5>
</div>
</div>
</a>
</div>
<div class="column1">
<a href="/people/jueunkwon">
<div class="polaroid">
<img src="/images/JueunKwon.jpg" alt="Jueun Kwon" style="bottom-margin=-2em">
<div class="container">
<h5>Jueun Kwon</h5>
</div>
</div>
</a>
</div>
<div class="column1">
<a href="/people/joelmeyer">
<div class="polaroid">
<img src="/images/JoelMeyer.jpg" alt="Joel Meyer" style="bottom-margin=-2em">
<div class="container">
<h5>Joel Meyer</h5>
</div>
</div>
</a>
</div>
<div class="column1">
<a href="/people/alliepinosky">
<div class="polaroid">
<img src="/images/AlliePinosky.jpg" alt="Allie Pinosky" style="bottom-margin=-2em">
<div class="container">
<h5>Allie Pinosky</h5>
</div>
</div>
</a>
</div>
<div class="row" style="text-align:center">
<div class="column1">
<a href="/people/maxmsun">
<div class="polaroid">
<img src="/images/MaxMSun.jpg" alt="Max Muchen Sun" style="bottom-margin=-2em">
<div class="container">
<h5>Max Muchen Sun</h5>
</div>
</div>
</a>
</div>
<div class="column1">
<a href="/people/annalisataylor">
<div class="polaroid">
<img src="/images/AnnalisaTaylor.jpg" alt="Annalisa Taylor" style="bottom-margin=-2em">
<div class="container">
<h5>Annalisa Taylor</h5>
</div>
</div>
</a>
</div>
<div class="column1">
<a href="/people/zixinzhang">
<div class="polaroid">
<img src="/images/zixin.jpg" alt="Zixin Zhang" style="bottom-margin=-2em">
<div class="container">
<h5>Zixin Zhang</h5>
</div>
</div>
</a>
</div>
</div>
<!-- <h2>Master's Students</h2>
<div class="row" style="text-align:center">
<div class="column1">
<a href="/people/maxwellpatwardhan">
<div class="polaroid">
<img src="/images/MaxwellPatwardhan.jpg" alt="Maxwell Patwardhan" style="bottom-margin=-2em">
<div class="container">
<h5>Maxwell Patwardhan</h5>
</div>
</div>
</a>
</div> -->
</div>
<h2>Undergraduate Students</h2>
<div class="row" style="text-align:center">
<div class="column1">
<a href="/people/oliviali">
<div class="polaroid">
<img src="/images/OliviaLi.jpg" alt="Olivia Li" style="bottom-margin=-2em">
<div class="container">
<h5>Olivia Li</h5>
</div>
</div>
</a>
</div>
<!-- <div class="column1">
<a href="/people/tommyli">
<div class="polaroid">
<img src="/images/tommy_li.jpg" alt="Tommy Li" style="bottom-margin=-2em">
<div class="container">
<h5>Tommy Li</h5>
</div>
</div>
</a>
</div> -->
<!-- <div class="column1">
<a href="/people/chrisluey">
<div class="polaroid">
<img src="/images/ChrisLuey.jpg" alt="Christopher Luey" style="bottom-margin=-2em">
<div class="container">
<h5>Christopher Luey</h5>
</div>
</div>
</a>
</div> -->
<div class="column1">
<a href="/people/tarasaxena.html">
<div class="polaroid">
<img src="/images/tara_saxena.jpg" alt="Tara Saxena" style="bottom-margin=-2em">
<div class="container">
<h5>Tara Saxena</h5>
</div>
</div>
</a>
</div>
<!-- <div class="column1">
<a href="/people/sophiaschiffer">
<div class="polaroid">
<img src="/images/SophiaSchiffer.jpg" alt="Sophia Schiffer" style="bottom-margin=-2em">
<div class="container">
<h5>Sophia Schiffer</h5>
</div>
</div>
</a>
</div> -->
<div class="column1">
<a href="/people/helenayoung">
<div class="polaroid">
<img src="/images/HelenaYoung.jpg" alt="Helena Young" style="bottom-margin=-2em">
<div class="container">
<h5>Helena Young</h5>
</div>
</div>
</a>
</div>
<!-- <div class="column1">
<a href="/people/sarahyung">
<div class="polaroid">
<img src="/images/sarah_yung.jpg" alt="Sarah Yung" style="bottom-margin=-2em">
<div class="container">
<h5>Sarah Yung</h5>
</div>
</div>
</a>
</div> -->
</div>
<h2>Postdogs</h2>
<div class="row" style="text-align:center;">
<div class="column1">
<a href="/people/tola">
<div class="polaroid">
<img src="/images/tola.jpg" alt="Tola" style="bottom-margin=-2em">
<div class="container">
<h5>Tola</h5>
</div>
</div>
</a>
</div>
<!-- <div class="column1">
<a href="/people/griff">
<div class="polaroid">
<img src="/images/griff.jpeg" alt="Griff" style="bottom-margin=-2em">
<div class="container">
<h5>Griff</h5>
</div>
</div>
</a>
</div> -->
<div class="column1">
<a href="/people/tina">
<div class="polaroid">
<img src="/images/TinaLouise.jpeg" alt="Tina" style="bottom-margin=-2em">
<div class="container">
<h5>Tina Louise</h5>
</div>
</div>
</a>
</div>
<div class="column1">
<a href="/people/bunney">
<div class="polaroid">
<img src="/images/bunney.jpg" alt="Bunney" style="bottom-margin=-2em">
<div class="container">
<h5>Bunney</h5>
</div>
</div>
</a>
</div>
</div>
<h2>Alumni</h2>
<h3>Post Docs</h3>
<h4 style="margin-bottom:-.5em; text-align:left">Gerardo de la Torre</h4>
<!-- <br>Postdoc (ME at Northwestern University) -->
<p style="text-align:left"><b>After Graduating:</b> Northrop Grumman</p>
<h4 style="margin-bottom:-0.5em;">Kathrin Flaßkamp</h4>
<!-- <br>Postdoc (ME at Northwestern University) -->
<p style="text-align:left"><b>After Graduating:</b> PostDoc/Research Assistant in <a href="http://www.math.uni-bremen.de/zetem/cms/detail.php?id=4381&language=en">Optimization and Optimal Group</a>, University of Bremen</p>
<h4 style="margin-bottom:-0.5em;">David Pekarek</h4>
<!-- <br>Postdoc (ME at Northwestern University) -->
<p style="text-align:left"><b>After Graduating:</b> <a href="https://www.data-tactics.com">Data Tactics</a></p>
<h4 style="margin-bottom:-0.5em;">Benjamin Tovar</h4>
<!-- <br>Postdoc (ME at Northwestern University) -->
<p style="text-align:left"><b>After Graduating:</b> Lead Research Software Engineer at <a href="https://ccl.cse.nd.edu/">Cooperative Computing Lab</a>, University of Notre Dame</p>
<br>
<h3>Ph.D. Students</h3>
<h4 style="margin-bottom:-0.5em;">Thomas Berrueta</h4>
<p style="text-align:left"><a href="/people/thomasberrueta">Lab Profile</a>
<br><b>Thesis:</b> Robot Thermodynamics, 2024
<br><b>After Graduating:</b> Postdoc at Caltech </p>
<h4 style="margin-bottom:-0.5em;">Milli Schlafly</h4>
<p style="text-align:left"><a href="/people/millischlafly">Lab Profile</a>
<br><b>Thesis:</b> Robot Design and Control for Human Movement and Cognition, 2024
<br><b>After Graduating:</b> Postdoc at ETH </p>
<h4 style="margin-bottom:-0.5em;">Kyra Rudy</h4>
<p style="text-align:left"><a href="/people/kyrarudy">Lab Profile</a>
<br><b>Thesis:</b> Assessment and Assistance for Dynamic and Safety-Critical Human Motion, 2023
<br><b>After Graduating:</b> AI Consultant at <a href="https://outlier.ai/">Outlier</a> </p>
<h4 style="margin-bottom:-0.5em;">Ola Kalinowska</h4>
<p style="text-align:left"><a href="/people/olakalinowska">Lab Profile</a>
<br><b>Thesis:</b> Human-Machine Communication in Assistive and Rehabilitation Robotics, 2023
<br><b>After Graduating:</b> Software Engineer at <a href="https://x.company/">Google's X, the moonshot factory</a> </p>
<h4 style="margin-bottom:-0.5em;">Taosha Fan</h4>
<p style="text-align:left"><a href="/people/taoshafan">Lab Profile</a>
<br><b>Thesis:</b> Efficient and Guaranteed Geometric Methods for Motion Generation and Perception, 2022
<br><b>After Graduating:</b> Research Scientist at <a href="https://ai.facebook.com/">Meta AI</a> </p>
<h4 style="margin-bottom:-0.5em;">Ana Pervan</h4>
<p style="text-align:left"><a href="/people/anapervan">Lab Profile</a>
<br><b>Thesis:</b> Co-Design of Bodies and Strategies, 2021
<br><b>After Graduating:</b> Research Scientist at <a href="https://wayve.ai/">Wayve</a>, Research Scientist at Fauna Robotics </p>
<h4 style="margin-bottom:-0.5em;">Giorgos Mamakoukas</h4>
<p style="text-align:left"><a href="/people/giorgosmamakoukas">Lab Profile</a>
<br><b>Thesis:</b> Real-Time Safe Control for Model-Based and Data-Driven Robotics, 2021
<br><b>After Graduating:</b> Research Scientist at <a href="https://motional.com/">Motional</a> </p>
<h4 style="margin-bottom:-0.5em;">Rebecca Abbott</h4>
<p style="text-align:left"><a href="/people/rebeccaabbott">Lab Profile</a>
<br><b>Thesis:</b> Active Model-Based Inference for Muscle Strength Diagnostics, 2021
<br><b>After Graduating:</b> <a href="https://medschool.cuanschutz.edu/physical-therapy-program/faculty-and-staff/dual-campus-faculty/Abbott-Rebecca-Rab--UCD6004280292">Assistant Professor</a> of Physical Therapy (SOM) at University of Colorado School of Medicine </p>
<h4 style="margin-bottom:-0.5em;">Katie Fitzsimons</h4>
<p style="text-align:left"><a href="/people/katiefitzsimons">Lab Profile</a>
<br><b>Thesis:</b> Physical Human-Robot Interaction for Assistance and Training Using Information Metrics, 2020
<br><b>After Graduating:</b> <a href="https://www.me.psu.edu/department/directory-detail-g.aspx?q=kzf5356">Assistant Professor</a> of Mechanical Engineering at Penn State </p>
<h4 style="margin-bottom:-0.5em;">Ahalya Prabhakar</h4>
<p style="text-align:left"><a href="/people/ahalyaprabhakar">Lab Profile</a>
<br><b>Thesis:</b> Communicating and Modeling Information through Motion, 2020
<br><b>After Graduating:</b> Postdoc at <a href="http://lasa.epfl.ch/">Learning Algorithms and Systems Lab</a>, Ecole Polytechnique Federale de Lausanne (EPFL)</p>
<h4 style="margin-bottom:-0.5em;">Ian Abraham</h4>
<p style="text-align:left"><a href="/people/ianabraham">Lab Profile</a>
<br><b>Thesis:</b> Optimal Experimental Learning and Infinite Linear Embeddings, 2020
<br><b>After Graduating:</b> <a href="https://seas.yale.edu/faculty-research/faculty-directory/ian-abraham">Assistant Professor</a> of Mechanical Engineering at Yale University </p>
<h4 style="margin-bottom:-0.5em;">Emmanouil Tzorakoleftherakis</h4>
<!-- <br>Ph.D. (ME at Northwestern University), 2017 -->
<p style="text-align:left"><b>Thesis:</b> Stable Control Synthesis for Human-in-the-Loop Systems, 2017
<br><b>After Graduating:</b> <a href="https://www.mathworks.com/">Mathworks</a></p>
<h4 style="margin-bottom:-0.5em;">Anastasia Mavrommati</h4>
<!-- <br>Ph.D. (ME at Northwestern University), 2017 -->
<p style="text-align:left"><b>Thesis:</b> Real-Time Algorithms for Symbol-Based Automation, 2017
<br><b>After Graduating:</b> <a href="https://www.slb.com/">Schlumberger-Doll Research</a>; Robotics Research Scientist at <a href="https://www.mathworks.com/">Mathworks</a> </p>
<h4 style="margin-bottom:-0.5em;">Lauren Miller</h4>
<!-- <br>Ph.D. (ME at Northwestern University), 2015 -->
<p style="text-align:left"><b>Thesis:</b> Optimal Ergodic Control for Active Search and Information Acquisition, 2015
<br><b>After Graduating:</b> Postdoc at <a href="http://autolab.berkeley.edu/">Autolab</a>, UC Berkeley; Senior Software Engineer at <a href="https://www.marble.io/">Marble</a></p>
<h4 style="margin-bottom:-0.5em;">Alex Ansari</h4>
<!-- <br>Ph.D. (ME at Northwestern University), 2015 -->
<p style="text-align:left"><b>Thesis:</b> Sequential Action Control: Closed-Form Optimal Feedback for Nonlinear and Hybrid Systems, 2015
<br><b>After Graduating:</b> Postdoc at <a href="http://biorobotics.ri.cmu.edu/index.php">Biorobotics Lab</a>, Carnegie Mellon University 2015-2017; Uber</p>
<h4 style="margin-bottom:-0.5em;">Andrew Wilson</h4>
<!-- <br>Ph.D. (ME at Northwestern University), 2015 -->
<p style="text-align:left"><b>Thesis:</b> Information-based Trajectory Optimization for Active Estimation in Mechanical Systems, 2015
<br><b>After Graduating:</b> Robotics and Control Engineer at <a href="https://www.intuitive.com/">Intuitive Surgical</a></p>
<h4 style="margin-bottom:-0.5em;">Jarvis Schultz</h4>
<!-- <br>Ph.D. (ME at Northwestern University), 2014 -->
<p style="text-align:left"><b>Thesis:</b> Discrete Mechanics Computation for Real-Time Embedded Control, 2014
<br><b>After Graduating:</b> Senior Robotics Engineer at <a href="https://www.azevtec.com/">Azevtec</a></p>
<h4 style="margin-bottom:-0.5em;">Vlad Seghete</h4>
<!-- <br>Ph.D. (ME at Northwestern University), 2014 -->
<p style="text-align:left"><b>Thesis:</b> Numerical Methods for Simulation and Control of Impacting Mechanical Systems, 2014
<br><b>After Graduating:</b> Data Scientist at <a href="https://datascopeanalytics.com/team/vlad-seghete/">DataScope Analytics</a></p>
<h4 style="margin-bottom:-0.5em;">Tim Caldwell</h4>
<!-- <br>Ph.D. (ME at Northwestern University), 2013 -->
<p style="text-align:left"><b>Thesis:</b> Iterative Methods in Switched System Optimal Control, 2013
<br><b>After Graduating:</b> Postdoc at the University of Colorado at Boulder; Software Engineer at <a href="https://zoox.com/">Zoox</a></p>
<h4 style="margin-bottom:-0.5em;">Elizabeth Jochum</h4>
<!-- <br>Ph.D. (Performance Studies at the University of Colorado), 2013 -->
<p style="text-align:left"><b>Thesis:</b> Deux Ex Machina: Towards an Aesthetics of Autonomous and Semi-Autonomous Machines, 2013
<br><b>After Graduating:</b> Assistant Professor at <a href="https://vbn.aau.dk/en/persons/128508">Aalborg University</a></p>
<h4 style="margin-bottom:-0.5em;">Elliot Johnson</h4>
<!-- <br>Ph.D. (ME at Northwestern University), 2012 -->
<p style="text-align:left"><b>Thesis:</b> Trajectory Optimization and Regulation for Constrained Discrete Mechanical Systems, 2012
<br><b>After Graduating:</b> <a href="https://www.swri.org">Southwest Research Institute</a></p>
<h4 style="margin-bottom:-0.5em;">Matt Travers</h4>
<!-- <br>Ph.D. (ME at Northwestern University), 2011 -->
<p style="text-align:left"><b>Thesis:</b> Impulse Smoothing for Data Association, 2011
<br><b>After Graduating:</b> System Scientist at <a href="http://biorobotics.ri.cmu.edu/index.php">Biorobotics Lab</a>, The Robotics Institute, CMU</p>
<h4 style="margin-bottom:-0.5em;">Brian Shucker</h4>
<!-- <br>Ph.D. (CS at University of Colorado), 2006 -->
<p style="text-align:left"><b>Thesis:</b> Control of Distributed Robotic Macrosensors, 2006
<br><b>After Graduating:</b> MIT Lincoln Laboratories</p>
<br>
<h3>Undergraduate and M.S. Students</h3>
<h4 style="margin-bottom:-0.5em;">Maxwell Patwardhan</h4>
<p style="text-align:left"><a href="/people/maxwellpatwardhan">Lab Page</a>
<br>M.S. 2024
<br><b>After Graduating:</b> Sargent & Lundy</p>
<h4 style="margin-bottom:-0.5em;">Jonathan Bosnich</h4>
<p style="text-align:left"><a href="/people/jonathanbosnich">Lab Page</a>
<br>M.S. 2024</p>
<h4 style="margin-bottom:-0.5em;">Maia Traub</h4>
<p style="text-align:left">B.S. 2024
<br><b>After Graduating:</b> Universal Creative</p>
<h4 style="margin-bottom:-0.5em;">Katie Hughes</h4>
<p style="text-align:left">M.S. 2023
<br><b>After Graduating:</b> Boston Dynamics AI Institute</p>
<h4 style="margin-bottom:-0.5em;">Sophia Schiffer</h4>
<p style="text-align:left"><a href="/people/sophiaschiffer.html">Lab Page</a>
<br>B.S. 2023
<br><b>After Graduating:</b> Focal Point, LLC</p>
<h4 style="margin-bottom:-0.5em;">Katarina Popovic</h4>
<p style="text-align:left"><a href="/people/katarinapopovic">Lab Page</a>
<br>M.S. 2023</p>
<h4 style="margin-bottom:-0.5em;">Karalyn Baird</h4>
<p style="text-align:left"><a href="/people/karalynbaird">Lab Page</a>
<br>B.S./M.S. 2021
<br><b>After Graduating:</b> Boeing</p>
<h4 style="margin-bottom:-0.5em;">Alex Samland</h4>
<p style="text-align:left"><a href="/people/alexsamland">Lab Page</a>
<br>B.S./M.S. 2020</p>
<h4 style="margin-bottom:-0.5em;">Jenny Kim</h4>
<p style="text-align:left">B.S. 2020</p>
<h4 style="margin-bottom:-0.5em;">Andrew Kim</h4>
<p style="text-align:left">B.S. 2019</p>
<h4 style="margin-bottom:-0.5em;">Chris Kim</h4>
<p style="text-align:left">B.S. 2019
<br><b>After Graduating:</b> Pursuing Ph.D. at University of Pennsylvania</p>
<h4 style="margin-bottom:-0.5em;">Samuel Donis</h4>
<p style="text-align:left">B.S. 2019</p>
<h4 style="margin-bottom:-0.5em;">Vismaya Walawalkar</h4>
<p style="text-align:left">M.S. 2017</p>
<h4 style="margin-bottom:-0.5em;">Scott Beck</h4>
<p style="text-align:left">B.S. 2017
<br><b>After Graduating:</b> SpaceX</p>
<h4 style="margin-bottom:-0.5em;">Henry Hung</h4>
<p style="text-align:left">B.S. 2015
<br><b>After Graduating:</b> 3M</p>
<h4 style="margin-bottom:-0.5em;">Elliot Hevel</h4>
<p style="text-align:left">B.S./M.S. 2013
<br><b>After Graduating:</b> Civis Analytics</p>
<h4 style="margin-bottom:-0.5em;">Katy Powers</h4>
<p style="text-align:left">B.S. 2013
<br><b>After Graduating:</b> 6 River Systems</p>
<h4 style="margin-bottom:-0.5em;">Yoke Peng Leong</h4>
<p style="text-align:left">B.S./M.S. 2012
<br><b>After Graduating:</b> Ph.D. at California Institute of Technology; <a href="https://www.mathworks.com/">Mathworks</a></p>
<h4 style="margin-bottom:-0.5em;">Corrina Gibson</h4>
<p style="text-align:left">B.S. 2012</p>
<h4 style="margin-bottom:-0.5em;">Camaria Lehman</h4>
<p style="text-align:left">B.S. 2011</p>
<h4 style="margin-bottom:-0.5em;">Matanya Horowitz</h4>
<p style="text-align:left">B.S. 2010</p>
<h4 style="margin-bottom:-0.5em;">Kirk Nichols</h4>
<p style="text-align:left">B.S./M.S. 2010</p>
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