Group

Postdoctoral Fellows

Jason Derenick
Qimi Jiang (email: qimi AT seas DOT upenn DOT edu)
Vinutha Kallem

Research Staff

Jim Keller, Project Manager
Nathan Michael

Current Ph.D. Students

Current Master's Students

Alex Kushleyev
Erik Smith

Former Students

Postdoctoral Fellows

Herman Bruyninckx, 1996-97 (currently on the faculty of the Katholik University, Leuven, Belgium)
Luiz Chaimowicz, 2003-05 (currently Adjunct Prof., Federal University of Mineas Gerais, Brazil)
Peng Cheng, 2005-08 (current at Mathworks)
Rafael Fierro, 1999 –2001 (currently Asst. Prof., Electrical Engineering, Oklahoma State University)
Bogdan Gavrea, 2006-07
Ben Grocholsky, 2003-06 (currently Research Scientist, Carnegie Mellon University)
Greg Grudic, 1998-2001 (currently Asst. Prof., Computer Science, University of Colorado at Boulder)
Adam Halasz (currently Asst. Prof., University of West Virginia)
Elan Henis, 1992-93 (currently at the IBM Haifa Research Laboratory)
Manish Kumar, 2006 (Asst. Prof., University of Cincinnati)
Savvas Loizou, 2005-07 (currently Visiting Asst. Prof., Naval Arch. and Marine Eng., National Technical University of Athens)
Peng Song, 2003-05 (currently Asst. Prof., Rutgers University).
John Ben Southall, 1999- 2000 (currently at Sarnoff).
Herbert Tanner, 2001-2002 (joint with George Pappas, currently Asst. Prof., Mechanical Engineering, University of New Mexico)
Jean-Marc Vezien, 1996-98 (currently at INRIA, France)
Xiaoye Wang, 2002 (joint with Harvey Rubin and G. K. Ananthasuresh)
John Wright (currently Assoc. Prof., Millersville University of Pennsylvania)

Ph.D. students

Calin Belta, Geometric Methods for Multirobot Planning and Control, 2003. Currently Asst. Prof., Boston University.
David Cappelleri, 2009. Currently Asst. Prof., Stevens Institute of Technology.
Sachin Chitta, Dynamics and Control of a Class of Modular Locomotion Systems, 2005. Currently at Willow Garage.
Aveek Das, Cooperative Control of Robot Formations, 2004. Currently at Sarnoff Corporation.
Jaydev Desai, Nonholonomic Motion Planning for Multiple Mobile Manipulators, 1998. Currently Assoc. Prof., Mechanical Engineering, Univ. of Maryland.
Joel Esposito, Simulation and Control of Hybrid Systems with Applications to Mobile Robotics, 2002. Currently Assistant Professor, United States Naval Academy.
William Howard, Stability of Grasps: Beyond Force Closure, June 1995. Currently President, Stability Technology, Buford, Georgia.
Ani Hsieh, Motion Control Strategies for Networked Robot Teams in Environment with Obstacles, 2007. Currently Visiting Asst. Prof. at Swarthmore College.
Jungwoo Kim, Adaptive Randomized Algorithms for Validation and Analysis of Complex Systems, 2006. Currently at Notilus Hyosung, Seoul, S. Korea.
Jung-ha Kim, Kinematics and Statics of Multifingered Grippers, Fall 1990. Currently Professor, Kook Min University, Seoul, S. Korea.
Venkat Krovi, Design and Virtual Prototyping of User Customized Assistive Devices, 1998. Currently Associate Professor, SUNY Buffalo.
Meghann Lomas, Reinforcement Learning for Mobile Robot Controllers: Theory and Experiments, 2006.
Nathan Michael, 2009. Currently Research Scientist, University of Pennsylvania.
Mohamed Ouerfelli, Kinematics of Head Movements in Paraplegics and Interaction with Robot Manipulators, November 1994. Currently Assistant Professor, King Fahd University, Saudi Arabia.
Rahul Rao, Image Based Control of an Unmanned Ground Vehicle from an Overhead Camera, 2004. Currently at Intel Corporation.
Nilanjan Sarkar, Control of Mechanical Systems with Rolling Contacts, Spring 1993 (co-supervised by X.Yun). Currently Assistant Professor, Vanderbilt University.
Peng Song, Modeling, Analysis and Simulation of Multibody Systems with Contact and Friction, 2002. Currently Assistant Professor, Rutgers University.
Tom Sugar, Design and Control of Cooperating Manipulators, 1999. Currently Assistant Professor, Arizona State University.
Nathan Ulrich, Mechanical Design Optimization of Manipulator Design Performance, Fall 1990. Currently President, Technique Applied Science, Inc.
Chau-Chang Wang, Kinematics and Control of Redundant Nonholonomic Systems, August 1995. Currently Assistant Professor, National Sun Yat-Sen University, Taiwan.
Yin-Tien Wang, Analysis and Simulation of Mechanical Systems with Multiple Frictional Contacts, Summer 1992. Currently Associate Professor, Tamkang University, Taiwan.
Milos Zefran, Continuous Methods for Motion Planning, December 1996. Currently Postdoctoral fellow, California Institute of Technology, Assistant Professor, University of Illinois, Chicago.

Masters Students

Robert Breslawski, Articulated Wheeled and Legged Mobility System for Uneven Terrain, December 1999
Gilad Buchman, December 2007
Brad Dufour, Strength Amplification in Assistive Devices for People with Physical Disabilities, December 1997
Greg Garvin, Kinematics and Trajectory Generation in Two-Armed Reaching and Manipulation, May 1994
J. Chris Gerdes, Modeling and Analysis of the Dynamic Behavior of Spur Gears with Applications To Control, Summer 1992
Fred Heger, 2004
Leslie Johnson, A Numerical Technique for Determination of Contact Forces for Multifingered Robotic Grippers, Summer 1991
Michael C. Johnson, Force and Motion Control of Redundantly Actuated Robotic Systems with Closed Kinematic Chains, Fall 1989
Venkat Krovi, Modeling and Control of a Hybrid Locomotion System, December 1995
Seshadri Narasimhan, Control of Robot Manipulators in Singular Configurations, May 1994
George Pfreundschuh, Kinematics, Design and Control of a Parallel Manipulator, Summer 1990
Thomas G. Sugar, Design and Control of an in-Parallel Pneumatically-Actuated Manipulator, Summer 1992
Dimitris Theodorakatos, Cable-Actuated Parallel Manipulators, May 2007
Parris Wellman, An Adaptive Mobility System, August 1994
William Yeoh, 2004
Milos Zefran, Numerical Techniques for Time Optimal Robot Control, August 1995