Lab Papers (GRASP)

 
The General Robotics, Automation, Sensing and Perception (GRASP) Lab is a multidisciplinary research laboratory at the University of Pennsylvania. Founded in 1979, the lab has grown to be one of the premier research labs focusing on fundamental research in robotics, vision, perception, control and automation.

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Papers from 2018

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Voronoi-Based Coverage Control of Pan/Tilt/Zoom Camera Networks, Omur Arslan, Hancheng Min, and Daniel E. Koditschek

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A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability, Avik De, Samuel A. Burden, and Daniel E. Koditschek

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Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting, Avik De and Daniel E. Koditschek

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Nomadic Monument for Women in Robotics, Diedra Krieger, Gaby Alfaro, Joey Hartmann-Dow, and Sonia F. Roberts

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Using the art practice of play to communicate legged robotics research concepts, Diedra Krieger and Sonia F. Roberts

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On Balancing Event and Area Coverage in Mobile Sensor Networks, Hancheng Min

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Integration of Local Geometry and Metric Information in Sampling-Based Motion Planning, Vincent Pacelli, Omur Arslan, and Daniel E. Koditschek

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A Dynamical System for Prioritizing and Coordinating Motivations, Paul Reverdy and Daniel E. Koditschek

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Reactive Velocity Control Reduces Energetic Cost of Jumping with a Virtual Leg Spring on Simulated Granular Media, Sonia F. Roberts and Daniel E. Koditschek

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Inertial Velocity and Attitude Estimation for Quadrotors: Supplementary Material, James B. Svacha Jr, Kartik Mohta, Michael Watterson, Giuseppe Loianno, and Vijay Kumar

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Reactive Navigation in Partially Known Non-Convex Environments, Vasileios Vasilopoulos and Daniel E. Koditschek

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Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator, Vasileios Vasilopoulos, T. Turner Topping, William Vega-Brown, Nicholas Roy, and Daniel E. Koditschek

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Sensor-Based Reactive Symbolic Planning in Partially Known Environments, Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan, Nicholas Roy, and Daniel E. Koditschek

Papers from 2017

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Discriminative Measures for Comparison of Phylogenetic Trees, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek

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Smooth Extensions of Feedback Motion Planners via Reference Governors, Omur Arslan and Daniel E. Koditschek

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Sensory Steering for Sampling-Based Motion Planning, Omur Arslan, Vincent Pacelli, and Daniel E. Koditschek

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Towards Reactive Control of Transitional Legged Robot Maneuvers, Jeff Duperret

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Empirical validation of a spined sagittal-plane quadrupedal model, Jeff Duperret and Daniel E. Koditschek

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The Penn Baxter Face Database, Naomi T. Fitter and Katherine J. Kuchenbecker

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Detecting Poisoning Attacks on Hierarchical Malware Classification Systems, Dan P. Guralnik, Bill Moran, Ali Pezeshki, and Omur Arslan

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Joint Exploration of Local Metrics and Geometry in Sampling-based Planning, Vincent Pacelli

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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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Spatial Sampling Strategies with Multiple Scientific Frames of Reference, Paul B. Reverdy, Thomas F. Shipley, 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 E. Koditschek

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Sensor-Based Legged Robot Homing Using Range-Only Target Localization, Vasileios Vasilopoulos, Omur Arslan, Avik De, and Daniel E. Koditschek

Papers from 2016

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Clustering-Based Robot Navigation and Control, Omur Arslan

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Coordinated Robot Navigation via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek

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Clustering-Based Robot Navigation and Control, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek

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Exact Robot Navigation Using Power Diagrams, Omur Arslan and Daniel E. Koditschek

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On the Optimality of Napoleon Triangles, Omur Arslan and Daniel E. Koditschek

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Sensor-Based Reactive Navigation in Unknown Convex Sphere Worlds, Omur Arslan and Daniel E. Koditschek

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Voronoi-Based Coverage Control of Heterogeneous Disk-Shaped Robots, Omur Arslan and Daniel E. Koditschek

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Core Actuation Promotes Self-Manipulability on a Direct-Drive Quadrupedal Robot, Jeff Duperret, Benjamin Kramer, and Daniel E. Koditschek

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The Penn Hand-Clapping Motion Dataset, Naomi T. Fitter and Katherine J. Kuchenbecker

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A Scalable Strategy for Open Loop Magnetic Control of Microrobots Using Critical Points, Luis Guerrero-Bonilla, Subhrajit Bhattacharya, and Vijay Kumar

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A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems, Aaron M. Johnson, Sam Burden, and Daniel E. Koditschek

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

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Mobile Robots as Remote Sensors for Spatial Point Process Models, Paul B. Reverdy and Daniel E. Koditschek

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Visual Servoing of Quadrotors for Perching by Hanging From Cylindrical Objects, Justin Thomas, Giuseppe Loianno, Kostas Daniilidis, and Vijay Kumar

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Towards Bipedal Behavior on a Quadrupedal Platform Using Optimal Control, Turner Topping, Vasileios Vasilopoulos, Avik De, and Daniel E. Koditschek

Papers from 2015

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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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An Empirical Investigation of Legged Transitional Maneuvers Leveraging Raibert’s Scissor Algorithm, Jeff Duperret and Daniel E. Koditschek

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Leg Design for Energy Management in an Electromechanical Robot, Gavin Kenneally

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A drift-diffusion model for robotic obstacle avoidance, Paul B. Reverdy, B. Deniz Ilhan, and Daniel E. Koditschek

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Robotic Measurement of Aeolian Processes, Sonia Roberts, Douglas J. Jerolmack, Nick Lancaster, George Nikolich, Paul B. Reverdy, Thomas F. Shipley, Scott van Pelt, Ted Zobeck, and Daniel E. Koditschek

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Semi-autonomous exploration of multi-floor buildings with a legged robot, Garrett Wenger, Aaron Johnson, Camilo Jose Taylor, and Daniel E. Koditschek

Papers from 2014

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Navigation of Distinct Euclidean Particles via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek

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A Recursive, Distributed Minimum Spanning Tree Algorithm for Mobile Ad Hoc Networks, Omur Arslan and Daniel E. Koditschek

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The Penn Haptic Texture Toolkit for Modeling, Rendering, and Evaluating Haptic Virtual Textures, Heather Culbertson, Juan Jose Lopez Delgado, and Katherine J. Kuchenbecker

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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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Towards a Comparative Measure for Legged Agility, Jeffrey Duperret, Gavin Kenneally, Jason Pusey, and Daniel E. Koditschek

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Coordinated Navigation of Multiple Independent Disk-Shaped Robots, C. Serkan Karagoz, H. Isil Bozma, and Daniel E. Koditschek

Papers from 2013

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Toward Dynamical Sensor Management for Reactive Wall-following, Avik De and Daniel E. Koditschek

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Convergence of Bayesian Histogram Filters for Location Estimation, Avik De, Alejandro Ribeiro, William Moran, and Daniel E. Koditschek

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Clifford Algebras, Clifford Groups, and a Generalization of the Quaternions: The Pin and Spin Groups, Jean H. Gallier

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Notes on Convex Sets, Polytopes, Polyhedra, Combinatorial Topology, Voronoi Diagrams and Delaunay Triangulations, Jean H. Gallier

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Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek

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Legged Self-Manipulation, Aaron Johnson and Daniel E. Koditschek

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Optimal Resource Allocation for Network Protection Against Spreading Processes, Victor M. Preciado, Michael Zargham, Chinwendu Enyioha, Ali Jadbabaie, and George Pappas

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Free-Standing Leaping Experiments with a Power-Autonomous, Elastic-Spined Quadruped, Jason L. Pusey, Jeffrey M. Duperret, G. Clark Haynes, Ryan Knopf, and Daniel E. Koditschek

Papers from 2012

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Hierarchically Clustered Navigation of Distinct Euclidean Partlces, Omur Arslan, Dan P. Guralnik, Yuliy M. Baryshnikov, and Daniel E. Koditschek

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Refined Methods for Creating Realistic Haptic Virtual Textures from Tool-Mediated Contact Acceleration Data, Heather Culbertson, Joseph M. Romano, Pablo Castillo, Max Mintz, and Katherine J. Kuchenbecker

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Consensus Over Martingale Graph Processes, Arastoo Fazeli and Ali Jadbabaie

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Duopoly Pricing Game in Networks With Local Coordination Effects, Arastoo Fazeli and Ali Jadbabaie

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Game Theoretic Analysis of a Strategic Model of Competitive Contagion and Product Adoption in Social Networks, Arastoo Fazeli and Ali Jadbabaie

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Targeted Marketing and Seeding Products with Positive Externality, Arastoo Fazeli and Ali Jadbabaie

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Toward a Memory Model for Autonomous Topological Mapping and Navigation: the Case of Binary Sensors and Discrete Actions, Dan P. Guralnik and Daniel E. Koditschek

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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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Spectral Subtraction of Robot Motion Noise for Improved Event Detection in Tactile Acceleration Signals, Katherine J. Kuchenbecker and William McMahan

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Recreating the Feel of the Human Chest in a CPR Manikin via Programmable Pneumatic Damping, Katherine J. Kuchenbecker, Andrew A. Stanley, Simon K. Healey, and Matthew R. Maltese

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HALO: Haptic Alerts for Low-hanging Obstacles in White Cane Navigation, Katherine J. Kuchenbecker and Yunqing Wang

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Towards a terramechanics for bio-in spired locomotion in granular environments, Chen Li, Yang Ding, Ryan D. Maladen, Andrew Masse, Paul B. Umbanhowar, Haldun Kimsuoglu, Daniel E. Koditschek, and Daniel I. Goldman

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

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Multi-agent Flocking With Random Communication Radius, Samuel Martin, Arastoo Fazeli, Ali Jadbabaie, and Antoine Girard

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Time-triggered Implementations of Dynamic Controllers, Truong X. Nghiem, George J. Pappas, Rajeev Alur, and Antoine Girard

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Dynamical Trajectory Replanning for Uncertain Environments, Shai Revzen, B. Deniz Ilhan, and Daniel E. Koditschek

Papers from 2011

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Motor Sizing for Legged Robots Using Dynamic Task Specification, Avik De, Goran Lynch, Aaron Johnson, and Daniel E. Koditschek

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On Consensus in a Correlated Model of Network Formation Based on a Polya Urn Process, Arastoo Fazeli and Ali Jadbabaie

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Experimental Investigations into the Role of Passive Variable Compliant Legs for Dynamic Robot Locomotion, Kevin C. Galloway, Jonathan E. Clark, Mark Yim, and Daniel E. Koditschek

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Multistable Phase Regulation for Robust Steady and Transitional Legged Gaits, G. C. Haynes, Alfred A. Rizzi, and Daniel E. Koditschek

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Autonomous Legged Hill and Stairwell Ascent, Aaron M. Johnson, Matthew T. Hale, G. C. Haynes, and Daniel E. Koditschek

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Lessons in Using Vibrotactile Feedback to Guide Fast Arm Motions, Katherine J. Kuchenbecker, Karlin Bark, Preeya Khanna, Rikki Irwin, Pulkit Kapur, Steven A. Jax, and Laurel J. Buxbaum

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Haptically Assisted Golf Putting Through a Planar Four-Cable System, Katherine J. Kuchenbecker, Peter Y. Huang, Jacquelyn A. Kunkel, and Jordan Brindza

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Haptography: Capturing and Recreating the Rich Feel of Real Surfaces, Katherine J. Kuchenbecker, Joseph Romano, and William McMahan

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Design of Body-Grounded Tactile Actuators for Playback of Human Physical Contact, Katherine J. Kuchenbecker and Andrew A. Stanley

Papers from 2010

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Optimal Robust Multihop Routing for Wireless Networks of Mobile Micro Autonomous Systems, Jonathan Fink, Alejandro Ribeiro, Vijay Kumar, and Brian M. Sadler

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Learning Tractable Word Alignment Models with Complex Constraints, João V. Graça, Kuzman Ganchev, and Ben Taskar

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On the Comparative Analysis of Locomotory Systems with Vertical Travel, G. C. Haynes and Daniel E. Koditschek

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On the Comparative Analysis of Locomotory Systems with Vertical Travel, G.C. Haynes and Daniel E. Koditschek

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Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots, Aaron M. Johnson, Galen Clark Haynes, and Daniel E. Koditschek

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Spatially Distributed Tactile Feedback for Kinesthetic Motion Guidance, Pulkit Kapur, Mallory Jensen, Laurel J. Buxbaum, Steven A. Jax, and Katherine J. Kuchenbecker

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Characterization of Dynamic Behaviors in a Hexapod Robot, Haldun Komsuoglu, Anirudha Majumdar, Yasemin Aydin, and Daniel E. Koditschek

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VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery, Katherine J. Kuchenbecker, Jamie Gewirtz, William McMahan, Dorsey Standish, Pierre J. Mendoza, and David I. Lee

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Dimensional Reduction of High-Frequencey Accelerations for Haptic Rendering, Katherine J. Kuchenbecker, William McMahan, Nils Landin, and Joseph M. Romano

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Automatic Filter Design for Synthesis of Haptic Textures from Recorded Acceleration Data, Katherine J. Kuchenbecker, Takashi Yoshioka, and Joseph M. Romano

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Geometric Programming and Mechanism Design for Air Traffic Conflict Resolution, Jerome Le Ny and George J. Pappas