@inproceedings{BG:GL:MY:20,
title = {ModQuad-DoF: A Novel Yaw Actuation for Modular Quadrotors},
author = {Gabrich, Bruno and Li, Guanrui and Yim, Mark},
booktitle = {IEEE International Conference on Robotics and Automation 2020, to be presented},
address = {Paris, France},
year = {2020},
pdf={http://www.modlabupenn.org/wp-content/uploads/2020/03/gabrich_modquad_dof_icra2020.pdf}
}
@inproceedings{GL:BG:DS:JD:VK:MY:19,
title = {ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor},
author = {Li, Guanrui and Gabrich, Bruno and Saldana, David and Das, Jnaneshwar and Kumar, Vijay and Yim, Mark},
booktitle = {IEEE International Conference on Robotics and Automation 2019},
address = {Montreal, Canada},
year = {2019},
pdf={http://www.modlabupenn.org/wp-content/uploads/2019/03/li_gabrich_saldana_modquadvi.pdf}
}
@inproceedings{BG:DS:VK:MY:18,
title = {A Flying Gripper Based on Cuboid Modular Robots},
author = {Gabrich, Bruno and Saldana, David and Kumar, Vijay and Yim, Mark},
booktitle = {IEEE International Conference on Robotics and Automation 2018},
address = {Brisbane, Australia},
year = {2018},
pdf={http://www.modlabupenn.org/wp-content/uploads/2018/03/gabrich_modquad_gripper_icra2018.pdf}
}
@inproceedings{DS:BG:LG:MY:VK:18,
title = {ModQuad: The Flying Strucuture that Self-Assembles in Midair},
author = {Saldana, David and Gabrich, Bruno and Li, Guanrui and Yim, Mark and Kumar, Vijay},
booktitle = {IEEE International Conference on Robotics and Automation 2018},
address = {Brisbane, Australia},
year = {2018},
pdf={http://www.modlabupenn.org/wp-content/uploads/2018/03/gabrich_modquad_icra2018.pdf}
}
@inproceedings{DS:BG:MW:AM:MFMC:MY:VK:17,
title = {A Decentralized Algorithm for Assembling Structures
with Modular Robots},
author = {Saldana, David and Gabrich, Bruno and Whitzer, Mickey and Prorok, Amanda and Campos, Mario F.M. and Yim, Mark and Kumar, Vijay},
booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
address = {Vancouver, Canada},
year = {2017},
pdf={http://www.modlabupenn.org/wp-content/uploads/2017/07/Saldana_Gabrich_decentralized_algorithm_IROS_2017.pdf.pdf}
}
@inproceedings{BG:LS:AM:JS:14,
title = {Study of the throtle valve flow rate to adapt a diesel engine for operation with ethanol},
author = {Gabrich, Bruno Teles and Assis, Lucas Nogueira and de Morais, André Marcelino and Sodré, José Ricardo},
booktitle = {SAE International Congress},
address = {São Paulo, Brazil},
year = {2014},
pdf={}
}
In nature it is very common for insects to work together in collaboration to achieve formation of structures such as bridges, platforms and other configurations. There is no centralized command that determines each individual’s motions, forces and connections, once each one of them determines its own behavior locally. A flying modular platform called ModQuad was […]
Flying modular robots have the potential to rapidly form temporary structures. In the literature, docking actions rely on external systems and indoor infrastructures for relative pose estimation. In contrast to related work, we provide local estimation during the self-assembly process to avoid dependency on external systems. In this paper, we introduce ModQuad-Vi, a flying […]
Grasping objects is a hard task that usually implies a dedicated mechanism (e.g arm, gripper) to the robot. Instead of adding extra components, have you thought about embedding the grasping capability to the robot itself? Have you also thought about whether we could do it flying? In the GRASP Laboratory at the University of Pennsylvania, […]
Modular robots can adapt and offer solutions in emergency scenarios, but self-assembling on the ground is a slow process. What about self-assembling in midair? In one of our recent work in GRASP Laboratory at University of Pennsylvania, we introduce ModQuad, a novel flying modular robotic structure that is able to self-assemble in midair and cooperatively […]
Recent work in the field of bio-inspired robotic systems has introduced designs for modular robots that are able to assemble into structures (e.g., bridges, landing platforms, fences) using their bodies as the building components. Yet, it remains an open question as to how to program large swarms of robotic modules so that the assembly task […]