Welcome to the Modular Robotics Lab (ModLab), a subgroup of the GRASP Lab and the Mechanical Engineering and Applied Mechanics Department at the University of Pennsylvania under the supervision of Prof. Mark Yim.
A modular robot is a versatile system consisting of many simple modules that can change their configuration to suit a given task. These systems are inherently robust due to their redundancy, adaptability, and ability to self-repair. While originally focused on continuing research in the field of modular robotics, recent work at the lab has expanded to include micro/nano air vehicles, bio-inspired gaits, personal robots, and more. The ModLab is comprised of undergraduate and graduate students from multiple disciplines including mechanical, electrical, and computer systems engineering.
Featured Projects
CHUTnI: Compensated Holonomic Uneven Terrain Isolator
We present CHUTNI (Compensated Holonomic Uneven Terrain Isolator), an off-road differential-drive with offset turret platform that delivers holonomic control of a stabilized turret on uneven terrain. CHUTNI uses simple drive wheels on a rocker suspension to keep both wheels in contact with the ground, while an actively stabilized gimbal with three degrees of freedom, i.e., …
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Multistability Enabled Passive Multiplexing in an n-DOF, Underactuated Hyper-Redundant Robot
New developments in robotics have allowed robots to become very small, and capable of completing tasks humans cannot. Current robots capable of achieving this are physically limited in how small they can be without compromising on other aspects such as sensing, strength, or complexity. Thus, we strive to understand how we can more compactly map …
Design and Kinematics of CHAMPS: a Configurable, Highly-Articulated, Multi-Purpose Snake
CHAMPS is a configurable, highly articulated modular manipulator driven by a single actuator with selective joint engagement. The design combines shared actuation, embedded locking, and alternating joint geometry to enable scalable hyper-redundant motion.