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 through 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.



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