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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

  • Juggling — 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:

Preprints / under review

A copy of documents under review may be obtained from the author via private correspondence.

  1. A. De and D. E. Koditschek, “Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting,” under review.
  2. A. De, S. A. Burden and D. E. Koditschek, “A hybrid dynamical extension of averaging and its application to the analysis of legged gait stability,” under review.


  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. 900–907, 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.


  1. G. Wenger, A. De, and D. E. Koditschek, “Frontal plane stabilization and hopping with a 2DOF tail,” in Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, 2016, pp. 567–573. IEEE
  2. T. T. Topping, V. Vasilopoulos, A. De, and D. E. Koditschek, “Towards bipedal behavior on a quadrupedal platform using optimal control,” in SPIE 9837, Unmanned Systems Technology XVIII, 2016, p. 98370H. SPIE
  3. 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
  4. 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)
  5. 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. 4562–4569.PDF
  6. 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. 6192–6198. PDF
  7. 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
  8. 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. 2400–2406. PDF
  9. 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.
  10. 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. 631–645. PDF

Abstracts, Posters, and Technical Reports

  1. A. De and D. E. Koditschek, “Reactive coordination: stabilizing common quadrupedal gaits without CPGs,” Sixth Annual Winter Workshop on Neuromechanics and Dynamics of Locomotion, Tulane University - New Orleans, Louisiana, January 19 – 20, 2017. Poster
  2. 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.
  3. G. J. Wenger, A. De and D. E. Koditschek, “Roll Stabilization on a Tailed Biped,” RSS workshop on robotic uses for tails, July, 2015. Abstract
  4. A. De and D. E. Koditschek, “The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates,” Technical report, 2015. Available: arXiv:1502.05347 [cs.RO], Penn ScholarlyCommons
  5. 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. CMU bipedal seminar — Feb 17, 2017
  2. Mechanically Simple, Behaviorally Versatile Quadrupeds — TRI tech talk (with Gavin Kenneally) — Feb 10, 2017
  3. Mechanically Simple, Behaviorally Versatile Quadrupeds — Google tech talk (with Gavin Kenneally) — Feb 7, 2017
  4. Anchored Behaviors from Template Compositions — UW seminar — Feb 3, 2017
  5. Sequential, Parallel and Symbolic Compositions — UPenn ESE PhD Colloquium — Fall 2015
  6. Anchor synthesis via template composition — AMAM 2015
  7. UPenn GRASP industry day — April 2015
  8. Parallel Composition of Templates for Tail-Energized Planar Hopping — MIT Biomimetic Robotics Lab — Oct 2014

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