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


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Research Groups

Publications

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)

A Fast Configuration Space Algorithm for Variable Topology Truss Modular Robots

Publisher IEEE International Conference on Robotics and Automation (ICRA)

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

Publisher IEEE International Conference on Robotics and Automation (ICRA)

ModQuad-DoF: A Novel Yaw Actuation for Modular Quadrotors

Publisher IEEE International Conference on Robotics and Automation (ICRA)

Motion planning for variable topology truss modular robot

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

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

Publisher IEEE International Conference on Robotics and Automation (ICRA)

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)

Optimal structure synthesis for environment augmenting robots

Publisher Institute of Electrical and Electronics Engineers (IEEE)

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)

A flying gripper based on cuboid modular robots

Publisher Institute of Electrical and Electronics Engineers (IEEE)

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)

Evaluating older adults’ interaction with a mobile assistive robot

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


Spencer Folk

PhD, MEAM


Walker Gosrich

PhD, MEAM


Gedaliah Knizhnik

PhD, MEAM


Nikhil Krishnan

Robotics MSE - Submatric


Chao Liu

Robotics MSE '14; PhD, MEAM


Madeline Rice

Robotics MSE - Submatric


Andrew Specian

PhD, MEAM


Alexander Spinos

PhD, MEAM


Dayong Tong

Robotics MSE


Jessica Yin

PhD, MEAM


Research Staff

Andrew Bae

PostDoc, MEAM


Alumni

Abhraneel Bera

Robotics MSE '19 - Sun Microsystems (Oracle)


Bennet Caraher

Robotics MSE '20


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


Nick Eckenstein

PhD, MEAM '19


Jay Fleischer

Robotics MSE '19 - Berkshire Grey


Mitch Fogelson

Robotics MSE '18 - Rakuten Institute of Technology


Allison Grey

Robotics MSE '19


Charles Hussey

Robotics MSE '20


Michael Kofron

Robotics MSE '15 - Robotics Research LLC


Brian Kwon

Robotics MSE '21 - Exyn Technologies


Rebecca Li

Robotics MSE '20


Guanrui (Ray) Li

Robotics MSE '18 - UPenn


Chang Liu

Robotics MSE '21 - DJI


Malavika Manoj

Robotics MSE '21 - Burro (Augean Robotics)


Naman Mehrotra

Robotics MSE '18 - McKinsey & Company


Gabrielle Merritt

Robotics MSE '16 - Transcriptic


Christopher Mok

Robotics MSE '20


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


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


Daniel Shuter

Robotics MSE '18 - Zuko, Inc.


Tarik Tosun

PhD, MEAM '19


Elizabeth Tu

Robotics MSE '19


Raphael Van Hoffelen

Robotics MSE '20


Nanda Kishore Vasudevan

Robotics MSE '20 - Tesla


Venkat Varun Velpula

Robotics MSE '21 - Third Insight


Yulai Weng

Robotics MSE '20 - LYF Innovation Ltd


Zheyuan Xie

Robotics MSE '20


Brian Zhang

Robotics MSE '18 - Oregon State University


Xinlong Zheng

Robotics MSE '21


Mark Yim

Research Areas

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