Lab Papers (GRASP)
Papers from 2023
Twisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization, J. Diego Caporale, Zeyuan Feng, Shane Rozen-Levy, Aja Mia Carter, and Daniel E. Koditschek
Drag Coefficient Characterization of the Origami Magic Ball (Inproceedings), Guanyu Chen, Dongsheng Chen, Jessica Weakly, and Cynthia Sung
Anchoring Sagittal Plane Templates in a Spatial Quadruped, Timothy M. Greco and Daniel E. Koditschek
Design and Control of a Tunable-Stiffness Coiled-Spring Actuator, Shivangi Misra, Mason Mitchell, Rongqian Chen, and Cynthia Sung
Papers from 2022
Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami, Wei-Hsi Chen, Woohyeok Yang, Lucien Peach, Daniel E. Koditschek, and Cynthia R. Sung
Forward Kinematics and Control of a Segmented Tunable-Stiffness 3-D Continuum Manipulator, Shivangi Misra and Cynthia Sung
TrussBot: Modeling, Design, and Control of a Compliant, Helical Truss of Tetrahedral Modules, Yuhong Qin, Linda Ting, Celestina Saven, Yumika Amemiya, Michael Tanis, Randall Kamien, and Cynthia R. Sung
Repeated Jumping with the REBOund: Self-Righting Jumping Robot Leveraging Bistable Origami-Inspired Design, Yuchen Sun, Joanna Wang, and Cynthia R. Sung
Papers from 2021
Reconfiguring Non-Convex Holes in Pivoting Modular Cube Robots, Daniel Adam Feshbach and Cynthia Sung
Reconfiguring Non-Convex Holes in Pivoting Modular Cube Robots, Daniel Adam Feshbach and Cynthia Sung
Fabrication and Characterization of I-cord Knitted SMA Actuators, Christopher Y. Kim, Athena Chien, Megha Tippur, and Cynthia Sung
Motivation dynamics for autonomous composition of navigation tasks, Paul B. Reverdy, Vasileios Vasilopoulos, and Daniel E. Koditschek
Reimagining Robotic Walkers For Real-World Outdoor Play Environments With Insights From Legged Robots: A Scoping Review, Abriana Stewart-Height, Daniel E. Koditschek, and Michelle J. Johnson
Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments, Vasileios Vasilopoulos, Yiannis Kantaros, George J. Pappas, and Daniel E. Koditschek
Origami-Inspired Robot that Swims via Jet Propulsion, Zhiyuan Yang, Dongsheng Chen, David J. Levine, and Cynthia R. Sung
Papers from 2020
A Programmably Compliant Origami Mechanism for Dynamically Dexterous Robots, Wei-Hsi Chen, Shivangi Mishra, Yuchong Gao, Young-Joo Lee, Daniel Koditschek, Shu Yang, and Cynthia R. Sung
A Tendon-Driven Origami Hopper Triggered by Proprioceptive Contact Detection, Wei-Hsi Chen, Shivangi Misra, J. Diego Caporale, Daniel E. Koditschek, Shu Yang, and Cynthia R. Sung
What is Robotics: Why Do We Need It and How Can We Get It?, Daniel E. Koditschek
An obstacle disturbance selection framework: emergent robot steady states under repeated collisions, Feifei Qian and Daniel E. Koditschek
Modulation of Robot Orientation via Leg-Obstacle Contact Positions, Divya Ramesh, Anmol Kathail, Daniel E. Koditschek, and Feifei Qian
Composition of Templates for Transitional Legged Behaviors, Thomas T. Topping and D. E. Koditschek
Reactive Semantic Planning in Unexplored Semantic Environments Using Deep Perceptual Feedback, Vasileios Vasilopoulos, Georgios Pavlakos, Sean L. Bowman, J. Diego Caporale, Kostas Daniilidis, George J. Pappas, and Daniel E. Koditschek
Papers from 2019
Coronal Plane Spine Twisting Composes Shape To Adjust the Energy Landscape for Grounded Reorientation, J. Diego Caporale, Benjamin W. McInroe, Chenze Ning, Thomas Libby, Robert J. Full, and Daniel E. Koditschek
Task-Based Control and Design of a BLDC Actuator for Robotics, Avik De, Abriana Stewart-Height, and Daniel E. Koditschek
Rapid In Situ Characterization of Soil Erodibility With a Field Deployable Robot, Feifei Qian, Dylan Lee, George Nikolich, Daniel E. Koditschek, and Douglas J. Jerolmack
Mitigating energy loss in a robot hopping on a physically emulated dissipative substrate, Sonia F. Roberts and Daniel E. Koditschek
Mechanical and virtual compliance for robot locomotion in a compliant world, Sonia F. Roberts and Daniel E. Koditschek
Systematizing Gibsonian affordances in robotics: an empirical, generative approach derived from case studies in legged locomotion, Sonia F. Roberts, Lisa J. Miracchi, and Daniel E. Koditschek
Composition of Templates for Transitional Pedipulation Behaviors, Thomas T. Topping, Vasileios Vasilopoulos, Avik De, and Daniel E. Koditschek
Papers from 2018
Sensor-Based Reactive Navigation in Unknown Convex Sphere Worlds, Omur Arslan and Daniel E. Koditschek
Voronoi-Based Coverage Control of Pan/Tilt/Zoom Camera Networks, Omur Arslan, Hancheng Min, and Daniel E. Koditschek
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
Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting, Avik De and Daniel E. Koditschek
Iterated Belief Revision Under Resource Constraints: Logic as Geometry, Dan P. Guralnik and Daniel E. Koditschek
Nomadic Monument for Women in Robotics, Diedra Krieger, Gaby Alfaro, Joey Hartmann-Dow, and Sonia F. Roberts
Using the art practice of play to communicate legged robotics research concepts, Diedra Krieger and Sonia F. Roberts
On Balancing Event and Area Coverage in Mobile Sensor Networks, Hancheng Min
Integration of Local Geometry and Metric Information in Sampling-Based Motion Planning, Vincent Pacelli, Omur Arslan, and Daniel E. Koditschek
A Dynamical System for Prioritizing and Coordinating Motivations, Paul Reverdy and Daniel E. Koditschek
Reactive Velocity Control Reduces Energetic Cost of Jumping with a Virtual Leg Spring on Simulated Granular Media, Sonia F. Roberts and Daniel E. Koditschek
Analytically-Guided Design of a Tailed Bipedal Hopping Robot, Abdulaziz Shamsah, Avik De, and Daniel E. Koditschek
Inertial Velocity and Attitude Estimation for Quadrotors: Supplementary Material, James B. Svacha Jr, Kartik Mohta, Michael Watterson, Giuseppe Loianno, and Vijay Kumar
Reactive Navigation in Partially Known Non-Convex Environments, Vasileios Vasilopoulos and Daniel E. Koditschek
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
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
Discriminative Measures for Comparison of Phylogenetic Trees, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
Smooth Extensions of Feedback Motion Planners via Reference Governors, Omur Arslan and Daniel E. Koditschek
Sensory Steering for Sampling-Based Motion Planning, Omur Arslan, Vincent Pacelli, and Daniel E. Koditschek
Towards Reactive Control of Transitional Legged Robot Maneuvers, Jeff Duperret
Empirical validation of a spined sagittal-plane quadrupedal model, Jeff Duperret and Daniel E. Koditschek
The Penn Baxter Face Database, Naomi T. Fitter and Katherine J. Kuchenbecker
Detecting Poisoning Attacks on Hierarchical Malware Classification Systems, Dan P. Guralnik, Bill Moran, Ali Pezeshki, and Omur Arslan
Joint Exploration of Local Metrics and Geometry in Sampling-based Planning, Vincent Pacelli
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
Spatial Sampling Strategies with Multiple Scientific Frames of Reference, Paul B. Reverdy, Thomas F. Shipley, and Daniel E. Koditschek
Quasi-Static and Dynamic Mismatch for Door Opening and Stair Climbing With a Legged Robot, T. Turner Topping, Gavin Kenneally, and Daniel E. Koditschek
Sensor-Based Legged Robot Homing Using Range-Only Target Localization, Vasileios Vasilopoulos, Omur Arslan, Avik De, and Daniel E. Koditschek
Papers from 2016
Clustering-Based Robot Navigation and Control, Omur Arslan
Coordinated Robot Navigation via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
Clustering-Based Robot Navigation and Control, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
Exact Robot Navigation Using Power Diagrams, Omur Arslan and Daniel E. Koditschek
On the Optimality of Napoleon Triangles, Omur Arslan and Daniel E. Koditschek
Sensor-Based Reactive Navigation in Unknown Convex Sphere Worlds, Omur Arslan and Daniel E. Koditschek
Voronoi-Based Coverage Control of Heterogeneous Disk-Shaped Robots, Omur Arslan and Daniel E. Koditschek
Core Actuation Promotes Self-Manipulability on a Direct-Drive Quadrupedal Robot, Jeff Duperret, Benjamin Kramer, and Daniel E. Koditschek
The Penn Hand-Clapping Motion Dataset, Naomi T. Fitter and Katherine J. Kuchenbecker
A Scalable Strategy for Open Loop Magnetic Control of Microrobots Using Critical Points, Luis Guerrero-Bonilla, Subhrajit Bhattacharya, and Vijay Kumar
A Hybrid Systems Model for Simple Manipulation and Self-Manipulation Systems, Aaron M. Johnson, Sam Burden, and Daniel E. Koditschek
Design Principles for a Family of Direct-Drive Legged Robots, Gavin Kenneally, Avik De, and Daniel E. Koditschek
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
Mobile Robots as Remote Sensors for Spatial Point Process Models, Paul B. Reverdy and Daniel E. Koditschek
Visual Servoing of Quadrotors for Perching by Hanging From Cylindrical Objects, Justin Thomas, Giuseppe Loianno, Kostas Daniilidis, and Vijay Kumar
Towards Bipedal Behavior on a Quadrupedal Platform Using Optimal Control, Turner Topping, Vasileios Vasilopoulos, Avik De, and Daniel E. Koditschek
Frontal plane stabilization and hopping with a 2DOF tail, Garrett Wenger, Avik De, and Daniel E. Koditschek
Papers from 2015
Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped, Avik De and Daniel E. Koditschek
Parallel Composition of Templates for Tail-Energized Planar Hopping, Avik De and Daniel E. Koditschek
An Empirical Investigation of Legged Transitional Maneuvers Leveraging Raibert’s Scissor Algorithm, Jeff Duperret and Daniel E. Koditschek
Leg Design for Energy Management in an Electromechanical Robot, Gavin Kenneally
A drift-diffusion model for robotic obstacle avoidance, Paul B. Reverdy, B. Deniz Ilhan, and Daniel E. Koditschek
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
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
Navigation of Distinct Euclidean Particles via Hierarchical Clustering, Omur Arslan, Dan P. Guralnik, and Daniel E. Koditschek
A Recursive, Distributed Minimum Spanning Tree Algorithm for Mobile Ad Hoc Networks, Omur Arslan and Daniel E. Koditschek
The Penn Haptic Texture Toolkit for Modeling, Rendering, and Evaluating Haptic Virtual Textures, Heather Culbertson, Juan Jose Lopez Delgado, and Katherine J. Kuchenbecker
Active Sensing for Dynamic, Non-holonomic, Robust Visual Servoing, Avik De, Karl S. Bayer, and Daniel E. Koditschek
Towards a Comparative Measure for Legged Agility, Jeffrey Duperret, Gavin Kenneally, Jason Pusey, and Daniel E. Koditschek
Cellular Decomposition and Classification of a Hybrid System, Aaron M. Johnson and Daniel E. Koditschek
Coordinated Navigation of Multiple Independent Disk-Shaped Robots, C. Serkan Karagoz, H. Isil Bozma, and Daniel E. Koditschek
Papers from 2013
Toward Dynamical Sensor Management for Reactive Wall-following, Avik De and Daniel E. Koditschek
Convergence of Bayesian Histogram Filters for Location Estimation, Avik De, Alejandro Ribeiro, William Moran, and Daniel E. Koditschek
Clifford Algebras, Clifford Groups, and a Generalization of the Quaternions: The Pin and Spin Groups, Jean H. Gallier
Notes on Convex Sets, Polytopes, Polyhedra, Combinatorial Topology, Voronoi Diagrams and Delaunay Triangulations, Jean H. Gallier
Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running, Kevin C. Galloway, Jonathan E. Clark, and Daniel E. Koditschek
Legged Self-Manipulation, Aaron Johnson and Daniel E. Koditschek
Optimal Resource Allocation for Network Protection Against Spreading Processes, Victor M. Preciado, Michael Zargham, Chinwendu Enyioha, Ali Jadbabaie, and George Pappas
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
Hierarchically Clustered Navigation of Distinct Euclidean Partlces, Omur Arslan, Dan P. Guralnik, Yuliy M. Baryshnikov, and Daniel E. Koditschek
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
Consensus Over Martingale Graph Processes, Arastoo Fazeli and Ali Jadbabaie
Duopoly Pricing Game in Networks With Local Coordination Effects, Arastoo Fazeli and Ali Jadbabaie