ModLab UPenn the modular robotics laboratory at the university of pennsylvania

Nick Eckenstein

Nick Eckenstein
Position: Ph.D. Student

Research Interests: Self-Aligning Connectors, Computer Vision for Modular Robots, Novel Mechanisms

Office: Modlab/Main Grasp

Email: neck at

Personal Page



Tactically Expandable Maritime Platform (T.E.M.P.)

We have built a system of shipping container sized robotic boats that can hook onto each other.  We demonstrate the conceptual design of a system that is capable of constructing bridges and various shaped islands that can be made compliant to waves.


Docking and undocking are common activities for robots (modular robots in particular). The relative frequency of this operation behooves us to ensure reliable alignment under uncertain conditions. We present a new face geometry that is numerically superior to existing alignment geometries. This geometry is intended for two-dimensional reconfigurable robots.

Factory Floor

The factory floor is an experimental robotic system for the construction of passive robotically-reconfigurable truss structures. The macroscopic goal of this work is to embed autonomous reconfigurability into human-built systems.