Edward Hannigan developed software and electronics for the uBot-5 platform and its predecessors at the Laboratory for Perceptual Robotics in the Computer Science Department at the University of Massachusetts Amherst.   For hardware, he has worked on an embedded FPGA based motor controller used in the uBot-5 and PIC microcontrollers.  He has written much of the API and GUIs for the uBot-5.  His research is on having the uBot interact with the environment forcefully in real robotic applications.