Received a Ph.D. in electrical engineering from McGill University, Montreal, in 1995. Before that, I worked on robotic programming and control systems, developing the latest version of the Robot Control C Library (RCCL), based on earlier work by Vincent Hayward. From 1987 to 1991 I was a consultant to several industry and government organizations, including General Electric and the NASA Jet Propulsion Laboratory in California, where I worked on space-based telerobotic systems. Current research interests include robotic assembly, programming through simulation, contact modeling and simulation, robust motion control, and software system aspects of robotics.