People


Faculty

Dan Koditschek

Dan Koditschek

Director, PERCH; Alfred Fitler Moore Professor, ESE

Research in Dan’s group is focused on the application of dynamical systems theory to the design, construction and empirical testing of machines that juggle, run, climb, and in general, interact physically with their environment to perform useful work. Dan and his group seek to probe the foundations of autonomous robotics by reasoning formally about mathematical models that represent the successes and limitations of their physical platforms. They maintain close collaborations with biologists, whose insights about animal mobility and dexterity inspire their thinking and designs.

Research Areas


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Research Groups

Publications

Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Autonomous Stairwell Ascent

Publisher Robotica

Coronal Plane Spine Twisting Composes Shape to Adjust the Energy Landscape for Grounded Reorientation

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Mechanical and virtual compliance for robot locomotion in a compliant world

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Mitigating energy loss in a robot hopping on a physically emulated dissipative substrate

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Rapid In Situ Characterization of Soil Erodibility With a Field Deployable Robot

Publisher Journal of Geophysical Research: Earth Surface

Sensor-based reactive navigation in unknown convex sphere worlds

Publisher International Journal of Robotics Research (IJRR)

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

Publisher IEEE Robotics and Automation Letters (RA-L)

Actuator Transparency and the Energetic Cost of Proprioception

Publisher International Symposium on Experimental Robotics (ISER)

Analytically-Guided Design of a Tailed Bipedal Hopping Robot

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

Autonomous legged hill ascent

Publisher Journal of Field Robotics

Integration of Local Geometry and Metric Information in Sampling-Based Motion Planning

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Navigation Functions for Convex Potentials in a Space With Convex Obstacles

Publisher IEEE Transactions on Automatic Control

Reactive velocity control reduces energetic cost of jumping with a virtual leg spring on simulated granular media

Publisher IEEE International Conference on Robotics and Biomimetics (ROBIO)

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

Publisher IEEE International Conference on Robotics and Biomimetics (ROBIO)

Sensor-Based Reactive Execution of Symbolic Rearrangement Plans by a Legged Mobile Manipulator

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

Sensor-Based Reactive Symbolic Planning in Partially Known Environments

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Voronoi-Based Coverage Control of Pan/Tilt/Zoom Camera Networks

Publisher IEEE International Conference on Robotics and Automation (ICRA)

A dynamical system for prioritizing and coordinating motivations

Publisher SIAM Journal on Applied Dynamical Systems (SIADS)

Discriminative measures for comparison of phylogenetic trees

Publisher Discrete Applied Mathematics

Empirical validation of a spined sagittal-plane quadrupedal model

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Quasi-static and dynamic mismatch for door opening and stair climbing with a legged robot

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Sensory steering for sampling-based motion planning

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

Smooth extensions of feedback motion planners via reference governors

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Why We Need More Degrees of Freedom

Publisher Procedia IUTAM

A hybrid systems model for simple manipulation and self-manipulation systems

Publisher International Journal of Robotics Research (IJRR)

Coordinated Robot Navigation via Hierarchical Clustering

Publisher IEEE Transactions on Robotics

Design Principles for a Family of Direct-Drive Legged Robots

Publisher IEEE Robotics and Automation Letters (RA-L)

Event-selected vector field discontinuities yield piecewise-differentiable flows

Publisher SIAM Journal on Applied Dynamical Systems (SIADS)

Exact robot navigation using power diagrams

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Frontal plane stabilization and hopping with a 2dof tail

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

Mobile robots as remote sensors for spatial point process models

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

On the Optimality of Napoleon Triangles

Publisher Journal of Optimization Theory and Applications

RHex Slips on Granular Media

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Towards a comparative measure of legged agility

Publisher Springer Tracts in Advanced Robotics

Towards bipedal behavior on a quadrupedal platform using optimal control

Publisher International Society for Optical Engineering (SPIE)

Voronoi-based coverage control of heterogeneous disk-shaped robots

Publisher IEEE International Conference on Robotics and Automation (ICRA)

An empirical investigation of legged transitional maneuvers leveraging Raibert’s Scissor algorithm

Publisher 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

A drift-diffusion model for robotic obstacle avoidance

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

Leg design for energy management in an electromechanical robot

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

Navigation of distinct euclidean particles via hierarchical clustering

Publisher Springer Tracts in Advanced Robotics

Parallel composition of templates for tail-energized planar hopping

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Semi-autonomous exploration of multi-floor buildings with a legged robot

Publisher International Society for Optical Engineering (SPIE)

Tail-assisted rigid and compliant legged leaping

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

News

GRASP News

ICRA 2021 – GRASP Accepted Papers

March 3, 2021


GRASP News

ICRA 2020 Recap

June 24, 2020


Faculty News

Designs for what the future can be

February 10, 2020


GRASP News

Update on Lower Schuylkill River Development

November 21, 2017


GRASP News

GRASP goes to China

June 24, 2015


Faculty News

Daniel Koditschek wins a 2010 AFOSR MURI…

September 3, 2010


Students

Diego Caporale

Robotics MSE '19, PhD, MEAM


Wei-Hsi Chen

PhD, ESE


Timothy Greco

PhD, ESE


Griffon McMahon

Robotics MSE


Ethan Musser

Robotics MSE


Sonia Roberts

PhD, ESE


Shane Rozen-Levy

PhD, MEAM


Research Staff

Aja Carter

PostDoc, ESE


Paul Gustafson

PostDoc, ESE


Matthew Kvalheim

PostDoc, ESE


Vasileios Vasilopoulos

PhD, MEAM '21; PostDoc, ESE


Cristina Wilson

PostDoc, ESE


Alumni

Kevin Alcedo

Robotics MSE '16 - Artificial Intelligence Research Manager, Lockheed Martin


Omur Arslan

PhD, ESE '16, PostDoc, ESE '17 - Assistant Professor, Eindhoven University of Technology


Benjamin Bernstein

Robotics MSE '19 - Electromagnetic Engineer, Bresslergroup


Shiv Dalla

Robotics MSE '19


Avik De

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


Jeffrey Duperret

PhD, ESE '19


Jake Fine

Robotics MSE '19 - Hardware Engineer, Facebook


Dan Guralnik

PostDoc, ESE '19


Berkay Deniz Ilhan

PhD, ESE '17, PostDoc, ESE '19 - Head of Electronics and Firmware, Ghost Robotics


Adnan Jafferjee

Robotics MSE '19 - Mechanical Engineer, Formlabs


Alexander Kearns

Robotics MSE '18


Gavin Kenneally

PhD, MEAM '21 - CPO, Ghost Robotics


Juncheng Li

Robotics MSE '19


Yilin Liu

Robotics MSE '16 - Senior Software Engineer, Beckman Coulter


Mary Nahill

Robotics MSE '19


Vincent Pacelli

Robotics MSE '17


Feifei Qian

Post Doc, ESE '19 - WiSE Gabilan Assistant Professor, University of Southern California


Joshua Remba

Robotics MSE '20 - Systems Engineer, Applied Materials


Paul Reverdy

PostDoc, ESE '17 - Applied Scientist, Amazon


Shai Revzen

PostDoc '12, ESE - Assistant Professor, University of Michigan


Nicholas Trivelis

Robotics MSE '17 - Senior Research Scientist, Lockheed Martin


Vasileios Vasilopoulos

PhD, MEAM '21; PostDoc, ESE


Vivek Venkatram

Robotics MSE '18 - icuemotion


Achille Verheye

Robotics MSE '18 - Senior Robotics Engineer, Freedom Robotics


Yue Yang

Robotics MSE '20


Ahmed Zahra

Robotics MSE '17


Chi Zhang

Robotics MSE '18


Dingding Zheng

Robotics MSE '20


Dan Koditschek

Research Areas

  • Hybrid Control Systems
  • Legged Locomotion
  • Nonlinear Control Systems
  • Autonomy