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a subsidiary of the Penn Engineering GRASP Lab

We are interested in the application of dynamical systems theory to the invention and construction of intelligent machines and systems, with a particular focus on biologically inspired robotics. Many of us have worked in robotics with emphasis on dynamical dexterity and the management of kinetic energy in designing machines capable of performing useful work on their bodies and environments. Others of us have worked on more abstract problems of control and coordination with the object of developing new methods of design and analysis toward the construction of such machines.


Unveiling the Jerboa: a new tailed bipedal robot
April 7th, 2015
The Jerboa is a 12DOF, passive-compliant legged, tailed biped actuated by four brushless DC motors. We anticipate that this robot will be capable of executing a broad range of locomotion tasks including sitting, standing, walking, hopping, running, turning, leaping, and more. The first behavior we are researching is tail-energized planar hopping, which showcases a novel use for a robotic tail. The attached video describes how the control strategy is developed as a parallel composition of decoupled templates.


Recursive, Distributed MST

RSS 2014, WAFR 2014
February 6, 2015
Omur Arslan presented the paper “A Recursive, Distributed Minimum Spanning Tree Algorithm for Mobile Ad Hoc Networks” at 2014 Robotics: Science and Systems Conference (RSS2014), CarNet Workshop, in Berkeley, California and paper “Navigation of Distinct Euclidean Particles via Hierarchical Clustering” at International Workshop on the Algorithmic Foundations of Robotics 2014 (WAFR2014) in Istanbul, Turkey.


KodLab on IEEE Spectrumís Video Friday two weeks in a row!
December 11th, 2014
Video documentation from KodLabís research trip with RHex and collaborators from USDA Agricultural Research Service and University of Nevada Desert Research Institute to the Jornada and White Sands deserts in November and our trip to the Recycled Artist-in-Residence RAIR on November 21st made appearances on IEEE Spectrumís Video Friday, a weekly blog of videos of robotics, on 11/21/14 and 12/5/14 respectively.


TOBI Robot at Department of Making & Doing
October 7th, 2014
Tobi (Teaching Oriented Bio-Inspired) robot is a friendly walking robot with four legs developed at Kodlab. On Wednesday, October 15thThe DM&D is hosting a workshop where you get to use Tobi to create a physically-programmed piece of performance art or tell a story. Come find out where art meets robotics! Space is limited.


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