I completed a B.S./M.S. in Mechanical Engineering and a B.S. in Applied Math from Johns Hopkins University (LIMBS lab) in 2010 and completed a Ph.D. program in ESE at Penn in Kodlab in 2017. I am currently a postdoc in the same lab till 2018.

I am co-founder and CTO of Ghost Robotics.

Quick links: CV_AvikDe,  Personal website, Follow on Twitter, Videos, Publications

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)


  • Robotics: Mobility — created/delivered roughly 25% of the curriculum
  • Robotics: Capstone — created/delivered roughly 50% of the curriculum
  • TA for ESE 201, ESE 512 (both Dynamical systems courses)

Awards & Honors

Selected research videos

Videos featuring my gaits co-produced by Ghost Robotics



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.

  • A. De and D. E. Koditschek, “Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting,” recommended for publication, revision under review.
  • 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.



Abstracts, Posters, and Technical Reports


Invited Talks (excluding conference talks)

  • Modular hopping and running (for biologists and engineers) — UC Berkeley biomechanics seminar — Oct 24, 2017
  • Modular hopping and running — Boston University Robotics Lab — Oct 6, 2017
  • Thesis Defense “Modular Hopping and Running via Parallel Composition” — Thesis defense — Sep 20, 2017
  • CMU bipedal seminar — Feb 17, 2017
  • Mechanically Simple, Behaviorally Versatile Quadrupeds — TRI tech talk (with Gavin Kenneally) — Feb 10, 2017
  • Mechanically Simple, Behaviorally Versatile Quadrupeds — Google tech talk (with Gavin Kenneally) — Feb 7, 2017
  • Anchored Behaviors from Template Compositions — UW seminar — Feb 3, 2017
  • Sequential, Parallel and Symbolic Compositions — UPenn ESE PhD Colloquium — Fall 2015
  • Anchor synthesis via template composition — AMAM 2015
  • UPenn GRASP industry day — April 2015
  • Parallel Composition of Templates for Tail-Energized Planar Hopping — MIT Biomimetic Robotics Lab — Oct 2014