His major research interests are in nonlinear control of mechanical systems, with recent emphasis on the dynamics and control of mechanical systems with nonholonomic constraints. His application areas include mobile robots, nonlinear flight control, multifingered robot hands, and active control of high-performance turbomachinery. Dr. Murray was instrumental in the creation of the new Control and Dynamical Systems Department at Caltech, which emphasizes the interdisciplinary nature of dynamical systems and control, and the application of advanced theory to complex problems in engineering and science.