# Mark Petersen > Software Engineer at Boston Dynamics Location: Woburn, Massachusetts, United States Profile: https://flows.cv/markpetersen Most of my research work is open-source: http://www.github.com/mpetersen94 ## Work Experience ### Staff Software Engineer @ Boston Dynamics Jan 2023 – Present | Waltham, Massachusetts, United States ### Graduate Research Assistant @ MIT Computer Science and Artificial Intelligence Laboratory (CSAIL) Jan 2019 – Jan 2023 Worked in the Robot Locomotion Group advised by Russ Tedrake Developed algorithms for planning collision-free motions to near global optimality using convex optimization (using Graphs of Convex Sets) Researched learned visual feedback policies from demonstration for robotic manipulators Studied algorithmic shortfalls for manipulating deformable objects ### Robotics Engineer Intern @ Dexai Robotics Jan 2021 – Jan 2021 | Boston, Massachusetts, United States Rewrote portion of the motion planning pipeline including a custom Time Optimal Path Parameterization Developed tools for dissecting failures in the planning pipeline that led to collisions Massively reduced the rate of errors caused by violation of robots dynamic limits ### Graduate Research Assistant @ Harvard University Jan 2017 – Jan 2019 | Cambridge, MA Worked in the Agile Robotics Lab advised by Scott Kuindersma Researched control algorithms for bipedal locomotion Setup communication and low-level control protocol for Cassie, a new bipedal research platform Developed Zero Moment Point and Capture Point based balancing controllers in simulation and deployed on hardware Researched formulations for collision-free trajectory optimization ### Mechanical Design Intern @ Bluefin Robotics Jan 2016 – Jan 2016 | Quincy, MA Designed removable data storage for Autonomous Underwater Vehicles (AUVs), simplifying mission turnaround Analyzed the structural integrity of pressure vessels using FEA and redesigned parts for next generation low cost AUVs to improve machinability & reduce cost Developed actuator allocation Simulink model for controlling new AUV design that will be used to write the sub’s control code & thoroughly documented/cleaned up existing code Assembled prototype subs for a trade show demonstration of an AUV capable of launching an AUV swarm ### Research Intern @ Dynamical Control Systems Lab Jan 2015 – Jan 2015 | Princeton University Designed and constructed a motor system for a small Unmanned Underwater Vehicle (UUV) Printed motor housing components on a Formlabs SLA printer and machined components for final assembly Stress tested components and final assembly, modified design to account for flaws revealed by testing Expanded on work during school year to create a complete UUV with a 14-person team ### Research Intern @ Rehabilitation Institute of Chicago Jan 2014 – Jan 2014 | Robotics Lab Developed testing protocol to better detect upper body motor deficits in stroke survivors Programmed a biofeedback system to encourage test subjects to demonstrate their arm’s full range of motion Administered experiment on expanding motion capabilities of stroke patients and analyzed resulting data Investigated methods of detecting randomness of human motion and the feasibility of incorporating methods into testing protocol ### Intern @ Neuroscience and Robotics Laboratory Jan 2013 – Jan 2013 | Northwestern University Tested and reviewed brand new online engineering course enrolling 17,000 students Ensured course was clear and appropriate for target audience. ## Education ### Doctor of Philosophy - PhD in Mechanical Engineering Harvard University ### Master of Science - MS in Mechanical Engineering with a focus in Robotics and Control Harvard University ### Bachelor of Science & Engineering in Mechanical and Aerospace Engineering Princeton University ### New Trier High School ## Contact & Social - LinkedIn: https://linkedin.com/in/mpetersen94 --- Source: https://flows.cv/markpetersen JSON Resume: https://flows.cv/markpetersen/resume.json Last updated: 2026-03-31