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Avik De

Avik De

PhD, ESE '17- PostDoc, Harvard SEAS and Wyss Institute

Avik is currently a postdoc at Harvard SEAS and the Wyss Institute co-advised by Rob Wood and Scott Kuindersma. He received his PhD in Sep 2017, at the GRASP laboratory (Kodlab) in the University of Pennsylvania advised by Dan Koditschek. He graduated with a BS/MS in Mechanical Engineering from Johns Hopkins University in 2010 (LIMBS lab under Noah Cowan), during which he performed an empirical study on how/when human beings inject feedback to stabilize a 1-dimensional paddle juggling task. Bio-inspiration remains a key research interest, and during my PhD, he switched his efforts into modular/compositional control of dynamic locomotion in a way that generalizes across platforms (quadruped, tailed biped, …) and behaviors (hopping, running, …), as well as the design of dynamic locomotor systems.

Research Groups

Startups

Publications

Task-Based Control and Design of a BLDC Actuator for Robotics

Publisher IEEE Robotics and Automation Letters (RA-L)

Analytically-Guided Design of a Tailed Bipedal Hopping Robot

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Sensor-based legged robot homing using range-only target localization

Publisher IEEE International Conference on Robotics and Biomimetics (ROBIO)

Design Principles for a Family of Direct-Drive Legged Robots

Publisher IEEE Robotics and Automation Letters (RA-L)

Frontal plane stabilization and hopping with a 2dof tail

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

Towards bipedal behavior on a quadrupedal platform using optimal control

Publisher International Society for Optical Engineering (SPIE)

Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped

Publisher International Symposium on Robotics Research (ISRR)

Parallel composition of templates for tail-energized planar hopping

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Tail-assisted rigid and compliant legged leaping

Publisher IEEE International Conference on Intelligent Robots and Systems (IROS)

The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Dan Koditschek

Director, PERCH; Alfred Fitler Moore Professor, ESE


Avik De