He has served on the editorial boards of the IEEE Transactions on Robotics and Automation, IEEE Transactions on Automation Science and Engineering, ASME Journal of Mechanical Design, and the Springer Tract in Advanced Robotics (STAR), and was the chief editor for the ASME Journal of Mechanisms and Robotics. He has won best paper awards at DARS 2002, ICRA 2004, ICRA 2011, RSS 2011, RSS 2013, ICRA 2014, BICT 2015, and MARSS 2016 and has advised doctoral students who have won Best Student Paper Awards at ICRA 2008, RSS 2009, and DARS 2010. He is the recipient of the 2012 ASME Mechanisms and Robotics Award, the 2012 IEEE Robotics and Automation Society Distinguished Service Award, a 2012 World Technology Network (wtn.net) award, a 2013 Popular Mechanics Breakthrough Award, a 2014 Engelberger Robotics Award, the 2017 IEEE Robotics and Automation Society George Saridis Leadership Award, the 2017 ASME Robert E. Abbott Award, the 2018 IEEE Robotics and Automation Pioneer Award, and the 2020 IEEE Robotics and Automation Field Award. He was elected to the National Academy of Engineering in 2013, American Philosophical Society in 2018, and the American Academy of Arts and Sciences in 2022.