Inside the GRASP LAB

The Scalable Autonomous Robots (ScalAR) Lab is an interdisciplinary lab focused on fundamental research problems in robotics that lie at the intersection of robotics, nonlinear dynamical systems theory, and uncertainty. We focus on developing algorithms for distributed unmanned systems to address the scientific and technological challenges in long-term operation in dynamic and uncertain environments. We are interested in the coordination of heterogeneous robot teams, enabling robots to harness environmental dynamics for improved mobility and control, using robots to track and estimate complex environmental processes, and the design of novel robotic platforms.

Our research centers on control, learning, planning, and analysis of robots as they interact with the world. Whether a robot is assisting within the home, or operating in a manufacturing plant, the fundamental promise of robotics requires touching and affecting a complex environment in a safe and controlled fashion. We are focused on developing computationally tractable and data efficient algorithms which enable robots to operate both dynamically and safely as they quickly maneuver through and interact with their environments. Right now, we are particularly interested in understanding the interplay between the non-smooth dynamics of contact, machine learning, and numerical optimization, and then testing these techniques on both legged robots and robotic manipulation. For more information on our work, please see Michael’s research statement. https://dair.seas.upenn.edu/research/

Our group is interested in advancing the state of the art in computational methods for robot design and deployment, with a particular focus on soft and compliant robots. By combining methods in computational geometry with practical engineering design, we develop theory and systems for making robot design and fabrication intuitive and accessible to the non-engineer. Our work lies at the intersection of four major areas: We are a member of the Penn Engineering GRASP Lab and the Mechanical Engineering and Applied Mechanics Department at the University of Pennsylvania. We are grateful for the support of the National Science Foundation, the Johnson & Johnson WiSTEM2D program, the Office of Naval Research, the Army Research Office, the National Aeronautics and Space Administration, the Penn Health-Tech center, and the Penn Center for Undergraduate Research and Fellowships. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the sponsoring agencies.

Welcome to the Modular Robotics Lab (ModLab), a subgroup of the GRASP Lab and the Mechanical Engineering and Applied Mechanics Department at the University of Pennsylvania under the supervision of Prof. Mark Yim. A modular robot is a versatile system consisting of many simple modules that can change their configuration to suit a given task. These systems are inherently robust due to their redundancy, adaptability, and ability to self-repair. While originally focused on continuing research in the field of modular robotics, recent work at the lab has expanded to include micro/nano air vehicles, bio-inspired gaits, personal robots, and more. The ModLab is comprised of undergraduate and graduate students from multiple disciplines including mechanical, electrical, and computer systems engineering.