Avik De

PhD. student — started Fall 2010

Email: myfirstname [at] seas.upenn.edu

Avik De 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.

Research projects

Listed anti-chronologically:

Current

• 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-)

Past

• 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

• April tags integration (Su 2012)
• XBMP v2 (WIP)

Publications

Also listed with google scholar. Listed anti-chronologically:

Conference papers

• Motor Sizing for Legged Robots Using Dynamic Task Specification
  Avik De, Goran Lynch, Aaron M. Johnson and D. E. Koditschek
  IEEE International Conference on Technologies for Practical Robot Applications, April 2011.
• Toward SLAM on Graphs
  A. De, J. Lee, N. Keller, and N. J. Cowan
  Algorithmic Foundations of Robotics VIII, ser. Springer Tracts in Advanced Robotics, G. Chirikjian, H. Choset, M. Morales and T. Murphy, Eds. Berlin/Heidelberg: Springer-Verlag, vol 57, pp. 631–646, 2010. Full PDF

Theses

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