MEAM Ph.D. Thesis Defense: “Real-Time Perception and Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain”
The promise of bipedal robots is to go where people go, serving as surrogates for human labor in dangerous, unstructured environments. For the most part, this promise remains unrealized. The […]
MEAM Master’s Thesis Defense: “Learning a Vision-Based Footstep Planner for Hierarchical Walking Control on Unstructured Terrain”
Bipedal robots demonstrate high potential in navigating challenging terrains through dynamic ground contact. However, current frameworks often depend solely on proprioception or use manually designed visual processing pipelines, which are […]
MEAM Master’s Thesis Defense: “Investigating Jet Interactions in the Multi-Jet SALP Robot”
Jet propulsion is a common locomotion strategy in nature. We developed an underwater particle image velocimetry (PIV) system to investigate the hydrodynamic effects of the SALP (Salp-inspired Approach to Low-energy […]
MEAM Ph.D. Thesis Defense: “Macroscopic Ensemble Methods for Multi Robot Task Assignment in Dynamic Environments”
With finite resources to complete tasks like monitoring, coverage, and search, the challenge lies in identifying and performing tasks that can change both in frequency and location. One potential solution […]
MEAM Ph.D. Thesis Defense: “Leveraging Impedance-Related Properties for Free Self-Sensing in Actuators for Compact Robots”
Robotic systems, particularly at small scales, require efficient actuation and sensing solutions that maintain compactness. We are interested in systems where sensing and actuation are seamlessly integrated, specifically using impedance-related […]
MEAM Seminar: “Miniaturized Robots and Probes for Precision Health”
Designing miniaturized robots and bioelectronic devices will enable access throughout the entire human body, leading to novel procedures at the cellular level and offering localized diagnosis and treatment with unprecedented […]
MEAM Seminar: “Real-Time Safe and Energy-Efficient UAV Motion Planning in Windy Urban Environments”
Recent advancements in hardware and software are bringing autonomous aerial vehicles closer than ever to finally delivering on futuristic visions of flying cars and package delivery drones. However, the safe […]
MEAM Seminar: “Robots that Evolve on Demand”
Soft robots have the potential to adapt their morphologies and behavioral control policies to changing tasks and environments. Inspired by the dynamic plasticity of living organisms and the general adaptability […]
MEAM Seminar: “Leveraging Impedance Properties for Free Self-Sensing in Actuators for Compact Robots”
Self-sensing actuators provide a compelling approach to designing compact robotic systems by integrating sensing capabilities directly into the actuator, eliminating the need for external sensors. This presentation, titled “Leveraging Impedance […]
MEAM Ph.D. Thesis Defense: “Exploring Multimodal Sensing Across the Stack for Robot Manipulation”
Despite substantial progress in robotics, achieving human-like manipulation remains a significant challenge. Existing robotic systems typically leverage human-inspired sensory modalities: vision, touch, and proprioception. However, these modalities are historically studied […]