Robotics: Locomotion Engineering

Robotics: Locomotion Engineering

 

Penn Engineering Online Learning is advancing the University of Pennsylvania's mission to increase access to education and innovation. By harnessing the latest in distance-learning and online course technologies, our Ivy League-caliber resources and capabilities are open to all — truly, anyone can learn to think and create like an engineer. This collection serves as a repository for instructor publications that are referenced in our courses.

For a full list of Penn Engineering online courses please go to our website: https://onlinelearning.seas.upenn.edu/

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Papers from 2017

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Ground robotic measurement of aeolian processes, Feifei Qian, Douglas J. Jerolmack, Nicholas Lancaster, George Nikolich, Paul B. Reverdy, Sonia F. Roberts, Thomas F. Shipley, Robert Scott Van pelt, Ted M. Zobeck, and Daniel E. Koditschek

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Quasi-Static and Dynamic Mismatch for Door Opening and Stair Climbing With a Legged Robot, T. Turner Topping, Gavin Kenneally, and Daniel Koditschek

Papers from 2016

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Design Principles for a Family of Direct-Drive Legged Robots, Gavin Kenneally, Avik De, and D. E. Koditschek

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Comparative Design, Scaling, and Control of Appendages for Inertial Reorientation, Thomas Libby, Aaron M Johnson, Evan Chang-Sui, R J. Full, and Daniel Koditschek

Papers from 2015

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Tail-Assisted Rigid and Compliant Legged Leaping, Anna Brill, Avik De, Aaron Johnson, and Daniel Koditschek

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Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped, Avik De and Daniel E. Koditschek

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Parallel Composition of Templates for Tail-Energized Planar Hopping, Avik De and Daniel E. Koditschek

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The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates, Avik De and Daniel E. Koditschek

Papers from 2014

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Active Sensing for Dynamic, Non-holonomic, Robust Visual Servoing, Avik De, Karl S. Bayer, and Daniel E. Koditschek

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Desert RHex Technical Report: Jornada and White Sands Trip, Sonia Roberts, Jeff Duperret, Aaron M. Johnson, Scott van Pelt, Ted Zobeck, Nick Lancaster, and Daniel E. Koditschek

Papers from 2013

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Toward a Vocabulary of Legged Leaping, Aaron M. Johnson and Daniel Koditschek

Papers from 2012

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Laboratory on Legs: An Architechture for Adjustable Morphology with Legged Robots, G. Clark Haynes, Jason Pusey, Ryan Knopf, Aaron M. Johnson, and Daniel E. Koditschek

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Standing Self-Manipulation for a Legged Robot, Aaron M. Johnson, G. Clark Haynes, and Daniel E. Koditschek

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Tail Assisted Dynamic Self Righting, Aaron M. Johnson, Thomas Libby, Evan Chang-Siu, Masayoshi Tomizuka, Robert J. Full, and Daniel E. Koditschek

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A Bioinspired Dynamical Vertical Climbing Robot, Goran A. Lynch, Jonathan E. Clark, Pei-Chun Lei, and Daniel E. Koditschek

Papers from 2008

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Biologically Inspired Climbing with a Hexapedal Robot, M. J. Spenko, G. C. Haynes, J. A. Sanders, M. R. Cutkosky, Alfred A. Rizzi, R. J. Full, and Daniel E. Koditschek

Papers from 2000

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A Brachiating Robot Controller, Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek

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Approximating the Stance Map of a 2 DOF Monoped Runner, William J. Schwind and Daniel E. Koditschek

Papers from 1998

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Toward the Control of a Multi-Jointed, Monoped Runner, Uluc Saranli, William J. Schwind, and Daniel E. Koditschek

Papers from 1995

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Toward a Dynamical Pick and Place, Robert R. Burridge, Alfred A. Rizzi, and Daniel E. Koditschek

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Control of forward velocity for a simplified planar hopping robot, William J. Schwind and Daniel E. Koditschek

Papers from 1992

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Distributed Real-Time Control of a Spatial Robot Juggler, Alfred A. Rizzi, Louis L. Whitcomb, and Daniel E. Koditschek

Papers from 1991

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Analysis of A Simplified Hopping Robot, Daniel E. Koditschek and Martin Buehler

Papers from 1990

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From stable to chaotic juggling: theory, simulation, and experiments, Martin Buehler and Daniel E. Koditschek

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A Family of Robot Control Strategies for Intermittent Dynamical Environments, Martin Buehler, Daniel E. Koditschek, and Peter J. Kindlmann