People


Faculty

Mark Yim

Mark Yim

Director, GRASP Lab; Faculty Director, Design Studio (Venture Labs); Asa Whitney Professor, MEAM

Mark’s research interests began with modular robots that are made up of identical active components that can be arranged to form many different configurations, ranging from a snake robot to a humanoid to a 17 legged centipede. These systems can also self-reconfigure, changing the robot’s shape to suit the task. In addition to self-reconfiguring and self-assembling robots, Mark has also started work on flying robots, and task specification, working to figure out how to specify a task so that a robot configuration can optimally satisfy that task.

Research Areas

  • Humanoid Robots for Elder Care
  • Modular Self-reconfigurable Robots
  • Flying Robots
  • Self-assembling Aquatic Boots

Research Groups

Publications

A Fast Configuration Space Algorithm for Variable Topology Truss Modular Robots

Publisher IEEE International Conference on Robotics and Automation (ICRA)

A flying gripper based on cuboid modular robots

Publisher Institute of Electrical and Electronics Engineers (IEEE)

A Novel Underactuated End-Effector for Planar Sequential Grasping of Multiple Objects

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Development and deployment of a mobile manipulator for assisting and entertaining elders living in supportive apartment living facilities

Publisher IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

Docking and Undocking a Modular Underactuated Oscillating Swimming Robot

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Dynamic Grasping for Object Picking Using Passive Zero-DOF End Effectors

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Evaluating older adults’ interaction with a mobile assistive robot

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

ModQuad-DoF: A Novel Yaw Actuation for Modular Quadrotors

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Optimal structure synthesis for environment augmenting robots

Publisher Institute of Electrical and Electronics Engineers (IEEE)

Parallel Self-Assembly with SMORES-EP, a Modular Robot

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Preliminary Hardware and System Design Investigation for an Affordable and Mobile Assistive Robot for Elderly Care

Publisher IEEE ICRA Workshop: Mobile Robot Assistants for the Elderly (MoRobAE)

Reconfiguration Solution of a Variable Topology Truss: Design and Experiment

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Robots made from ice: an analysis of manufacturing techniques

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


Faculty News

Robots designed to self-construct

February 5, 2020


Student News

GRASP Lab’s high-flying robots

August 19, 2019


Student News

These Robots Can Assemble Themselves In Midair

January 18, 2018


GRASP News

GRASP goes to China

June 24, 2015


GRASP News

UPenn Selected for 2012 RASC-AL Robo-Ops

December 20, 2011


Faculty News

Mark Yim’s presentation at Ignite Philly 2

August 10, 2009


Students

Omar Abdoun

PhD, BE


Greg Campbell

PhD, MEAM


Diego Caporale

Robotics MSE '19, PhD, MEAM


Devin Carroll

PhD, MEAM


Brian Chirikjian

Robotics MSE - Submatric


Akhil Devarakonda

Robotics MSE


Spencer Folk

PhD, MEAM


Pranav Garg

Robotics MSE - Submatric


Nathaniel Gertzman

Robotics MSE (On Leave of Absence)


Walker Gosrich

PhD, MEAM


Ryan Jurewicz

Robotics MSE - Submatric


Gedaliah Knizhnik

PhD, MEAM


Nikhil Krishnan

Robotics MSE - Submatric


Brian Kwon

Robotics MSE


Rebecca Li

PhD, MEAM


Chang Liu

Robotics MSE


Chao Liu

Robotics MSE '14; PhD, MEAM


Jonathan Mairena

Robotics MSE - Submatric


Malavika Manoj

Robotics MSE


Mihir Parmar

Robotics MSE


Eric Quesada

Robotics MSE - Submatric


Vinaichandra Rachakonda

Robotics MSE - Submatric (On Leave of Absence)


Madeline Rice

Robotics MSE - Submatric


Zhihao Ruan

Robotics MSE


Shall Chee Shih

Robotics MSE


Andrew Specian

PhD, MEAM


Alexander Spinos

PhD, MEAM


Dayong Tong

Robotics MSE


Venkat Varun Velpula

Robotics MSE


Jake Welde

PhD, MEAM


Michael Woc

Robotics MSE


Jessica Yin

PhD, MEAM


Rahul Zahroof

Robotics MSE


Chris Zhang

Robotics MSE - Submatric


Xinlong Zheng

Robotics MSE


En Zou

Robotics MSE


Research Staff

Andrew Bae

PostDoc, MEAM


Alumni

Jay Milind Anjankar

Robotics MSE '19


Vaibhav Arcot

Robotics MSE '20 - Trefo


Brian Barrows

Robotics MSE - '20


Abhraneel Bera

Robotics MSE '19 - Sun Microsystems (Oracle)


Bennet Caraher

Robotics MSE '20


Jason Chen

Robotics MSE '17


Xiaohan (David) Chen

Robotics MSE '18


Shangyi Cheng

Robotics MSE '15 - Aevena, Inc


Spencer Collins

Robotics MSE '19


Pele Collins

Robotics MSE '18 - Space X


Foster D. Collins

Robotics MSE '16 - Sarcod Corporation


Yunkai Cui

Robotics MSE '14


Jay Davey

Robotics MSE '15 - Transcriptic


Philip DeZonia

Robotics MSE '19 - Exyn Technologies


Yanwei Du

Robotics MSE '14


Nick Eckenstein

PhD, MEAM '19


Jay Fleischer

Robotics MSE '19 - Berkshire Grey


Mitch Fogelson

Robotics MSE '18 - Rakuten Institute of Technology


Spencer Fox

Robotics MSE '18 - General Dynamics


Reed Ginsberg

Robotics MSE '19 - SpaceX


Allison Grey

Robotics MSE '19


Leandro Grigera-Monteagudo

Robotics MSE '18


Heng-Chieh Hsu

Robotics MSE '18 - TSMC


Philip Hu

Robotics MSE '18


Charles Hussey

Robotics MSE '20


Luke Jungmann

Robotics MSE '19


Michael Kofron

Robotics MSE '15 - Robotics Research LLC


Guanrui (Ray) Li

Robotics MSE '18 - UPenn


Yicheng Lin

Robotics MSE '17


Chia-Wei Lin

Robotics MSE '17 - Tactai, Inc


Yu-Cheng Lin

Robotics MSE '16 - Cruise Automation, Inc


Haoxiong Ma

Robotics MSE '20


Naman Mehrotra

Robotics MSE '18 - McKinsey & Company


Gabrielle Merritt

Robotics MSE '16 - Transcriptic


Alexis Mitchnick

Robotics MSE '19


Xuming Mo

Robotics MSE '16 - GRASP Lab


Christopher Mok

Robotics MSE '20


Ryan Oldja

Robotics MSE '17 - NVIDIA


Matthew Oslin

Robotics MSE '19


Matthew Piccoli

PhD, MEAM '16 - IQ Motion Control


Rhudii Quaye

Robotics MSE '18 - Siemens


Andrew Remec

Robotics MSE '18 - DEKA R&D


Shai Revzen

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


Jeremy Saslaw

Robotics MSE '19 - Berkshire Grey


Luca Scheuer

Robotics MSE '20 - JHU Applied Physics Laboratory


Jun Seo

PhD, MEAM '14 - Assistant Professor HKUST


Rosalind Shinkle

Robotics MSE '19 - Robotics Engineer, Boston Dynamics


Maxwell Shoer

Robotics MSE '19


Daniel Shuter

Robotics MSE '18 - Zuko, Inc.


Jared Sobel

Robotics MSE '18 - Kulicke & Soffa


Wenxuan Tang

Robotics MSE '16


Tarik Tosun

PhD, MEAM '19


Elizabeth Tu

Robotics MSE '19


Raphael Van Hoffelen

Robotics MSE '20


Nanda Kishore Vasudevan

Robotics MSE '20 - Tesla


Yulai Weng

Robotics MSE '20 - LYF Innovation Ltd


Matthew Wolfman

Robotics MSE '20


Yixin Wu

Robotics MSE '17


Zheyuan Xie

Robotics MSE '20


Christopher Zawacki

Robotics MSE '18


Brian Zhang

Robotics MSE '18 - Oregon State University


Zhiheng Zhang

Robotics MSE '18 - Amazon


Siyu Zheng

Robotics MSE '19


Mark Yim

Research Areas

  • Humanoid Robots for Elder Care
  • Modular Self-reconfigurable Robots
  • Flying Robots
  • Self-assembling Aquatic Boots