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Avik De

PhD. student — started Fall 2010

Email: myfirstname [at] seas.upenn.edu

I completed a B.S./M.S. in Mechanical Engineering and a B.S. in Applied Math from Johns Hopkins University in 2010 and started a Phd program in ESE at Penn in Kodlab.

I am a co-founder of Ghost Robotics: http://www.ghostrobotics.io/

Check out my personal website here: http://avikde.me

Research Areas and Projects

Past Projects

  • Bayesian estimation? — Approximate Bayesian estimation, SLAM on graphs
  • Neuromechanical control of paddle juggling?
  • Lateral perturbation recovery by a RHex robot (ESE650 final project, Sp 2012)
  • Applications of homology to processing laser data (with Qian Wu, Su 2011)
  • Finding optimal configuration space paths by variation of curves (MEAM620 final project, Sp 2011)


Also listed with google scholar. Listed anti-chronologically in IEEE format for copy-and-paste convenience:


  1. T. Turner Topping, Vasileios Vasilopoulos, Avik De, and Daniel E. Koditschek, “Towards bipedal behavior on a quadrupedal platform using optimal control,” in Proc. SPIE 9837, Unmanned Systems Technology XVIII, 98370H (May 13, 2016); doi:10.1117/12.2231103. SPIE
  2. A. L. Brill, A. De, A. M. Johnson and D. E. Koditschek, “Tail-Assisted Rigid and Compliant Legged Leaping,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep, 2015. IEEE
  3. A. De and D. E. Koditschek, “Averaged Anchoring of Decoupled Templates in a Tail-Energized Monoped, 2015 International Symposium on Robotics Research, Sep, 2015. (in press)
  4. A. De and D. E. Koditschek, Parallel composition of templates for tail-energized planar hopping, in Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015, pp. 45624569.PDF
  5. A. De, K. S. Bayer, and D. E. Koditschek, Active sensing for dynamic, non-holonomic, robust visual servoing, in Robotics and Automation (ICRA), 2014 IEEE International Conference on, 2014, pp. 61926198. PDF
  6. A. De, A. Ribeiro, W. Moran, and D. E. Koditschek, Convergence of Bayesian Histogram Filters for Location Estimation, in Proceedings of the 2013 IEEE Intl. Conference on Decision and Control, 2013. PDF
  7. A. De and D. E. Koditschek, Toward dynamical sensor management for reactive wall-following, in Robotics and Automation (ICRA), 2013 IEEE International Conference on, 2013, pp. 24002406. PDF
  8. A. De, G. Lynch, A. Johnson, and D. Koditschek, Motor sizing for legged robots using dynamic task specification, in 2011 IEEE Conference on Technologies for Practical Robot Applications (TePRA), 2011, pp. 64 69.
  9. A. De, J. Lee, N. Keller, and N. J. Cowan, Toward SLAM on Graphs, in Algorithmic Foundation of Robotics VIII, vol. 57, G. S. Chirikjian, H. Choset, M. Morales, and T. Murphey, Eds. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009, pp. 631645. PDF


  1. G. Kenneally, A. De, and D. E. Koditschek, Design Principles for a Family of Direct-Drive Legged Robots, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 900907, Jul. 2016. IEEE open access
  2. M. M. Ankarali, H. T. Sen, A. De, A. M. Okamura, and N. Cowan, Haptic Feedback Enhances Rhythmic Motor Control By Reducing Variability, Not Convergence Rate, Journal of Neurophysiology, p. jn.00140.2013, Dec. 2013.

Abstracts, Posters, and Technical Reports

  1. G. Kenneally, A. De and D. E. Koditschek, Design Principles for a Family of Direct-Drive Legged Robots, RSS Workshop on Miniature Legged Robots, July, 2015.
  2. A. De and D. E. Koditschek, The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates, arXiv:1502.05347 [cs.RO], 2015. PDF
  3. A. De, A. M. Johnson and D. E. Koditschek, Planar Hopping with a Leg and a Tail, Dynamic Walking, June, 2014. Abstract Poster


  1. A. De, Neuromechanical Control of Paddle Juggling, Masters thesis, Johns Hopkins University, 2010.

Invited Talks (excluding conference talks)

  1. UPenn ESE PhD Colloquium Fall 2015 — Sequential, Parallel and Symbolic Compositions (View on YouTube)
  2. AMAM 2015 — Anchor synthesis via template composition (June 2015)
  3. UPenn GRASP industry day (April 2015)
  4. MIT Biomimetic Robotics Lab — Parallel Composition of Templates for Tail-Energized Planar Hopping (Oct 2014)

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