Glenn Heppler


Contact InformationGlenn Heppler

Phone: 519-888-4648, 519-888-4567 x30154
Location: E3 4109, E5 6122

Biography Summary

Glenn Heppler is a Professor in the Department of Systems Design Engineering and cross-appointed to the Mechanical and Mechatronics Engineering department at the University of Waterloo.

Professor Heppler’s research interests include the dynamics of structures, and multilink and single link systems. He is pursuing several research projects that involve the dynamics and control of a wide range of flexible structures. These structures range from flexible robotic manipulators, to bridges, and to structures with significant gyroscopic elements.

The study of structurally flexible robotic arms is also being pursued by Professor Heppler in the context of dynamic mass capture. Dynamic mass capture is the acquisition of a payload by the robot when there is a significant nonzero relative velocity between the robot end effector and the payload. Both the modelling of the dynamics of this class of systems and the control of the system behaviour is being examined in his research.

Additionally, Professor Heppler has several publications on subjects such as natural frequencies and large-stroke electrostatic micro-actuators.

Research Interests

  • dynamics and control of structures
  • structural dynamics
  • modeling & simulation
  • flexible robot dynamics and control
  • dynamics of multibody and mechatronic systems
  • multilink and single link systems


  • 1985, Doctorate, Aerospace, University of Toronto, Institute for Aerospace Studies
  • 1979, Master's, Aerospace, University of Toronto, Institute for Aerospace Studies
  • 1977, Bachelor's, Engineering Science (Aerospace), University of Toronto


  • BME 399 - Biomedical Research Project
    • Taught in 2019
  • SYDE 181 - Physics 1 (Statics)
    • Taught in 2016, 2017, 2018, 2019, 2020
  • SYDE 182 - Physics 2 (Dynamics)
    • Taught in 2016
  • SYDE 352 - Intro to Control Systems
    • Taught in 2016
  • SYDE 553 - Advanced Dynamics
    • Taught in 2017, 2018, 2019, 2020
  • SYDE 750 - Topics in Systems Modelling
    • Taught in 2017, 2018, 2019, 2021
* Only courses taught in the past 5 years are displayed.

Selected/Recent Publications

  • Hassanpour, Soroosh and Heppler, GR, Dynamics of 3D Timoshenko gyroelastic beams with large attitude changes for the gyros, Acta Astronautica, 118, 2016, 33 - 48
  • Hassanpour, Soroosh and Heppler, GR, Theory of micropolar gyroelastic continua, Acta Mechanica, 227(5), 2016, 1469 - 1491
  • Lajimi, SAM and Heppler, GR and Abdel-Rahman, EM, A mechanical--thermal noise analysis of a nonlinear microgyroscope, Mechanical Systems and Signal Processing, 2016
  • Hassanpour, Soroosh and Heppler, GR, Comprehensive and easy-to-use torsion and bending theories for micropolar beams, International Journal of Mechanical Sciences, 114, 2016, 71 - 87
  • Hassanpour, Soroosh and Heppler, GR, Approximation of Infinitesimal Rotations in Calculus of Variations, Journal of Guidance, Control, and Dynamics, 39(1), 2016, 705 - 712

Graduate Studies