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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.

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


Also listed with google scholar. Listed anti-chronologically:


Conference papers

Journal Papers


Technical Reports

Research projects

Listed anti-chronologically:


  • Wall following with a RHex robot (with Karl Bayer, Su 2012)
    • Unicycle control with provable stability properties
  • Localization over partitions with provable convergence properties (2011-)


  • 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)
  • Motor sizing (Fa 2011)

At the LIMBS lab @ JHU:

  • Neuromechanical control of paddle juggling (2009–10)
  • SLAM on graphs (2008)

Hobby projects

  • 2-dof paddle juggling robot (conceived Su 2012)
  • 2-dof unicycle robot (built Su 2012)

Other Kodlab contributions

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