 |
Pranav
A. Bhounsule (CV)
Office: 2033 ERF (may not be in my office, best contact is through e-mail) Mailing Address: Mechanical and Industrial Engineering, 842 W. Taylor Street, Chicago, Illinois 60607 Phone: 312-355-8991 Email: pranav AT uic DOT edu Calendar: <Click here> |
NEW: Course on legged locomotion (notes, code, YouTube videos) https://pab47.github.io/legs.html
Experience:
Assistant Professor, Dept. of Mechanical and Industrial Engg, University of Illinois at Chicago, IL, USA Aug. 2019 - present
Assistant Professor, Dept. of Mechanical Engineering, University of Texas San Antonio, TX, USA Aug. 2014 - July 2019.
Postdoctoral Researcher, Disney Research Pittsburgh, Pittsburgh, PA, USA, Jan. 2012 - July 2014.
Visiting Researcher, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA, Jan. 2012 - Dec. 2013.
Education:
Ph.D. (Mechanical), Cornell University, Ithaca, New York, USA, Aug. 2006 - May 2012.
M.Tech. (Applied Mechanics), Indian Institute of Technology Madras, Chennai, India, Aug. 2004 - May 2006.
B.E. (Mechanical), Goa Engineering College, Goa, India, July 2000 - May 2004.
Publications: (click here)
Videos: (click here)
Miscellaneous:
| 1. |
My review on Goa College of Engineering, Farmagudi, Goa, India. (my under-grad institute, written in 2005) (web-link) (cached) |
| 2. |
In the Summer of 2009, I
digitized Human
Power Lab's (Andy Ruina's Cornell Lab) 18 year old (1991-2008) tape
collection. This
amounted to 100 hrs of video. (web-link) |
| 3. |
My race results on athlinks. (web-link) Personal Records: Runs 6.2mi (10kms) 46min 33sec at Pittsburgh, PA in 2012 13.1miles (21.1 kms), half marathon: 1h 38m 04s at Pittsburgh, PA in 2013 26.2miles (42.2 kms), marathon: 3h 34m 28 s at Corning, NY in 2010 Triathlon 1.2mi(1.9 km) swim - 56 mi(90 km) bike - 13.1mi(21.1km) run: 6 hr 54m 13sec at Syracuse, NY in 2013. My experiments with training (lhtml ink) |
| 4 |
In 2019, I switched my tenure track job. A write up on my experience and a perspective (html link).
If you want my job application material (CV, research and teaching
statement, cover letter, diversity statement), just shoot me an email. |
Current
Lab Members:
PhD students (date joined):
Salvador Echeveste, Fall 2018
Jeremy Krause, Spring 2019
Ernesto Hernandez, Spring 2020
James Bittler, Spring 2020
Subramanian Ramasamy, Fall 2020
Daniel Torres, Spring 2021
Chun-Ming Yang, Fall 2022
MS students (date joined):
Abdul Rahman, Fall 2019
BS students (date joined):
Jonathan Garcia (junior)
Alumni (arranged by
projects):
Graduate
Students (By thesis/project):
 |
Ali Zamani (PhD, ME UIC) Aug 2015 - Dec 2020 PhD Thesis: Toward Enhancing Stability and Agility of Dynamically Balancing Legged Robots: A Data-Driven Approach, (thesis) Senior Robotics Engineer, Miso Robotics, California, USA |
 |
Chinonso Ovuegbe (MS, ME UTSA) Aug 2019 - May 2020 MS Thesis: Parameter selection in the dynamic window approach robot collision avoidance algorithm using bayesian optimization (thesis) |
 |
Justin Ernst (MS, ME UTSA) May 2018 - Aug 2019 MS Thesis: Tuning A Discrete Linear Quadratic Regulator Controller Using The Region Of Attraction For The Simplest Walker Model (thesis) |
 |
Andrew Waterreus (MS, ME UTSA) Fall 2017 - Aug 2019 MS Thesis: Utilization Of Supervised And Reinforcement Learning in the Automation of the Classical Atari Game ``pong" (thesis) Obituary (1991-2019) Donation page to support an aspiring Mechanical Engineer |
 |
Eric Sanchez (MS, ME UTSA) Aug 2016 - Dec 2018 MS Thesis: Rowdy Runner II: An Independently Actuated Rimless Wheel Robot (thesis, paper) (click for video) Robotics Engineering, Boardwalk Robotics (spin-off from IHMC), Pensacola, Florida. |
 |
Robert Brothers (MS, ME UTSA) Jan 2016 - Dec 2018 MS Thesis: Dynamic Programming Of A Torso Actuated Rimless Wheel Robot (thesis) |
 |
Ezra Ameperosa (MS, ME UTSA) Sep 2015 - Aug 2018 MS Thesis: Bolt Detection and Position Estimation using Domain Randomization (thesis, paper (Best paper award at ASME IDETC/CIE 2019) (click for video) Mechanical Engineer, Air Force Research Lab, Dayton, Ohio |
 |
Christian Trevino (MS, ME UTSA) Sep 2015 - Dec 2017 MS Thesis: A Miniature Size 3d Printed Linear Pneumatic Actuator For Robotic Applications (thesis) (click for video) Design Engineer at Intel, Portland, Oregon. |
| (not pictured) |
Geoffrey Chiou (MS, ME UTSA) Sep 2016 - Dec 2017 MS Thesis: Reducing The Variance Of Intrinsic Camera Calibration Results In The ROS Camera_Calibration Package (thesis, 1.4 MB) Robotics Engineer at PlusOne Robotics, San Antonio, Texas |
 |
Matthew Piper (MS, ME UTSA) June 2016 - May 2017 MS Thesis: How to Beat Flappy Bird: A mixed-integer model predictive control approach (thesis, paper) (click for video) Systems Engineer at Raytheon, Tucson, Arizona |
 |
Abhishek Bapat (MS, AMIE-UTSA) Jan 2015 - Dec 2016. MS Thesis: Design, prototyping and testing of an autonomous robot with C shaped compliant legs: AbhisHex (thesis, 4.5 MB) (cad files) (photos) (YouTube video) |
 |
Daniel Bray (MS,
ME-UTSA) Jan 2015 - July 2015. MS Special Project: Locating position and orientation of objects using RGB-D camera. (report) (code) |
Undergraduate/High School Students (By project):
| Senior
Design Project: Automated Wet Wipe Sampling System Aug 2020 -- May 2021 Alex Lewandowski, Daniel Kulach, Omer A. Durrani, Matt A. Halverson, Mikayla A. Sirovatka All ME Seniors 1) Project Report 2) Project Presentation 3) Project Summary 4) Video |
|
| Senior
Design Project: Automated Wet Wipe Sampling System Aug 2020 -- May 2021 Mikhail W. Clayton, Amer Khalil, Sebastian C. Mihulet, Umar M. Siddiqui, Sulieman Sarmad All ME Seniors 1) Project Report 2) Project Presentation 3) Video |
|
| Senior
Design Project: Spider Web Catapult Aug 2020 -- May 2021 John Gerig, Tom Bates, Manuel Avitia, Gunnar Waldvogel, Tesfay Legesse, Justin Washington All ME Seniors 1) Project Report 2) Project Presentation 3) Project Poster 4) Video |
|
 |
Independent
Project: Low Cost Security System for a UIC lab using motioneyeos
open-source security software and raspberry pi single-board computers Jan 2020 -- May 2020 Anthony Dudlo (ME Seniors) Project Report (1 MB) |
| Senior
Design Project: Quadrupedal robot Aug 2019 -- May 2020 Liridona Ashiku, Maha Mohammad, Nick Pippin, Erik Silva All ME Seniors Project Report (1 MB) |
|
| Senior
Design Project: Bipedal robot Aug 2019 -- May 2020 Alex Bandurin, John Lajka, Felipe Cabrera All ME Seniors Project Report (1 MB) |
|
    |
Senior
Design Project: Paramotor Flight Control Development Platform Jan 2019 -- Dec 2019 (Top Row L to R) Kyle Kinsey, Mathew Pantoja, (Bottom Row L to R) Ramon Vazquez, Tarunjeet Singh. All ME Seniors Project Report (1 MB), YouTube Video |
    |
Senior
Design Project: Lil’Bro: An inexpensive open-source quadrupedal robot (click for video) Aug 2018 -- May 2019 (Top Row L to R) Steven Farra, Emiliano Rodriguez (Bottom Row L to R) Mario Navarro, John Carroll All ME Seniors Project Report (3.3 MB) Construction details on GitHub |
    |
Senior
Design Project: Sky Transportation Attachment System Jan 2018 -- Dec 2018 (Top Row L to R) Daniel Jiwani, Chad Parker (Bottom Row L to R) Cristian Morales, William Hinojosa All ME Seniors Project Report (5.8 MB), YouTube Video |
 |
1) Summer Project: Rowdy wear: a
gadget to help you make quick decisions (click for
video) May 2016 - Aug 2016, As an ME Sophomore 2) Independent Project: Simplest walker simulation using direct collocation MATLAB code. Aug 2018 - Dec 2018, As an ME Senior Panchajanya Karasani |
 |
Independent
Projects: (1) Auto sunglass June -- Aug 2018 Victor Guzman (High School Student) (i) Project Report, (ii) (click for video) (2) RoboCar June - July 2019 (i) RoboCarTutorials (ii) YouTube video link RC controlled cars available in hobby stores provide a nice sturdy chassis and powerful motors. However, they are limited to RC control. What if we remove the existing electronics and controllers in an RC car and replace them with Arduino and our own sensors? This project explores the idea. The resulting car equipped with multiple line sensors and a controller is quite fast as seen in the video. |
 |
Independent
Projects: (1) DIY: Robobug, a vibration motor actuated robot (click for video) Tutorial (3.1 MB) and a detailed step-by-step video Video (6 min 22 sec) (2) Tutorials: 3D scanning using Artec EVA A one-page file and an accompanying YouTube video link (4 min 12 sec). A jpg file that shows a 3Dprinted produced by the scan is here. May 2018 -- Dec 2018 Sierra Baumbusch (ME Senior) |
 |
Undergraduate
Research: Darwin humanoid dancing to UTSA and other songs (click for video) May 2018 -- Aug 2018 Emiliano Rodriguez (ME Senior) |
 |
Independent
Project: Tic-Tac-Toe Robot (click
for video) Aug 2017 -- May 2018 Drishya Dahal (ME Junior) |
    |
Senior
Design Project: Inchworm Robot (click for
video) Jan 2017 -- Dec 2017 (Top Row L to R) Anthony Abundis, Michael Aguirre (Bottom Row L to R) Justin Castillo, Flavio Moreira All ME Seniors Project Report (7.5 MB) |
  |
Independent
Project: Pumping a swing -- simulation and experiments (click for video) Sep 2017 -- Dec 2017 (L to R) Joseph Galloway, Gerardo (Aaron) Rios (ME Juniors) Project report (1.2 MB) |
 |
Independent
Project: 3D printing of rolling cylinders for demonstration of energy
principles June -- Aug 2017 Nour K. El-Ghori (High School Student) (i) Project Report, (ii) CAD files, (iii) (click for video) |
| |
Independent Project: Trashbot - a trash collecting robot January 2017 -- May 2017 (L to R) Drishya Dahal, Joseph Galloway (ME Sophomores) Project Report (0.2 MB) (click for video) |
 |
Independent Study: Drop Off Detection Sensor for Blind Persons Jan 2017 - May 2017 Kyle Lamoureux (ME Senior) Project Report (1 MB) |
    |
Senior Design Project: Multi-link Robotic Manipulator Jan 2016 - Dec 2016 (Top Row L to R) Sergio Molina, Paul Alabi, (Bottom Row L to R) Omar Castro, Jonathan Sacket. All ME Seniors Project Report (3.7 MB) |
    |
Senior Design Project: The Roadrunner Robot 2: The Rimless Wheeled Robot Jan 2016 - Dec 2016 (Top Row L to R) Aspen Meineke, Bianca Dumlao, (Bottom Row L to R) Noel Cantu, James Crisler. All ME Seniors Project Report (3.7 MB) |
 |
Independent Project: 1) Hopping tutorial 2) Walking simulation and optimization. May 2016 - Dec 2016 Chelsea Moussouni (ME Senior) |
    |
Senior Design Project: Pneumatic shoes for jumping height augmentation (click for video) Aug 2015 -- May 16 (Top Row L to R) Ivelisse Negroni, Noah Trent (Bottom Row L to R) Cesar Sifuentes, Michael Turasz All ME Seniors. Project Report (3.4 MB). |
  |
Independent Study Project: Balancing a ball on a beam January 2016 -- May 2016 (L to R) Andy Plascencia, Tyler Rowe, Geoffrey Chiou (not pictured) (ME Seniors) (i) Project Report (1 MB) (ii) Files for 3D printing (0.1 MB) (iii) Arduino code (0.1 MB) |
  |
Independent Study Project: Animatronics Face -- RomoBot (click for video) Entry to the Spring 2016, Center for Innovation, Technology, and Entrepreneurship (CITE) $100 K Business Competition at UTSA. Finalist in the Instructables Robotic Contest 2016 (only 19 finalists out of 222 entries) (link) (cached) January 2016 -- May 2016 (L to R) Geoffrey Toombs and James Schopfer (ME Seniors) Project Report (4.7 MB) |
 |
Independent Project:
Vibration-based robots for the Children's museum, San Antonio. Aug 2015 - Dec 2015 Christopher von Brecht (ME Senior) i) Write-up. (0.1MB) ii) Files for 3D printing. (0.5 MB) iii) YouTube Link. |
 |
Senior Design Project: Development of a Robotic Leg. 2nd place among all ME Senior Design Projects for Spring 2015 semester. (click for video) Aug 2014 -- May 15 (Top Row L to R) Raquel De La Garza, Christian Trevino, (Bottom Row L to R) Robert Brothers, Eric Sanchez All ME Seniors. Project Report (9.3 MB). |
   |
Senior
Design Project: Design and Construction of Rimless Wheeled robot. 3rd place among all ME Senior Design
Projects for Spring 2015 semester. (click
for video) Aug 2014 -- May 15 (Top Row L to R) Rico Jovanni Ulep, Kyle Seay, (Bottom Row L to R) Ezra Ameperosa, Scott Miller All ME Seniors. Project Report. (2 MB) |
   |
Senior Design Project: Mobile Automated Directory: UTSA guide robot. (click for video) Aug 2014 -- May 15 (Top Row L to R) Cory Royal, Curtis Odle, (Bottom Row) William Morris All EE Seniors. Project Report. (1 MB) |
    |
Senior Design
Project: Smart Humanoid Used for Silencing Humans (in the
library): SHUSHBot (click for video) Aug 2014 -- May 15 (Top L to R) Javier Gonzalez (McNair Scholar), Roberto Mexquitic (McNair Scholar), (Bottom Row L to R) Stacy Alexander, Thilo Janssen All EE Seniors. Project Report. (3 MB) |
|
1. Independent
Project: Simple
pendulum physics for SA Children's Museum (click for
video) UTSA newsarticle (link) (cached) Jan 2015 - February 2015 2. Honors Thesis: Passive Dynamic Toys (click for video) BS Thesis: Modern Day Advanced Manufacturing of Antique Toy Walkers (thesis, paper) Aug 2014 - July 2015 3. Paper walker for the Inventors Workshop at the Children's Museum. (click for video) COE Innovations Magazine back cover (cached) Aug 2015 - Nov 2015 Christian Trevino (ME Senior/ME MS) |
 |
Independent Project: T-maze for
neural experiments on mice. (for Prof.
Alfonso Apicella, Dept of Biology, UTSA) Jan 2015 - May 2015 Gerardo Ramos (ME Junior) |
| What we do |
We are interested in developing robotic prototypes and practical control algorithms that would push the state-of-the-art of current systems. We use prototyping tools such as 3D printers and simulations and tools in system identification, optimization, feedback control, and learning. Please see videos for a sampling of the systems we work on.
| Joining
the
Lab |
There are no openings at this time.
| Lab
Location |
The RAM lab is located in 1032W Engineering Research Facility (ERF). The closest parking garage is Halsted/Taylor Parking Structure, 760 W Taylor St, Chicago, IL 60607.
|
Publications |
* indicates graduate student
^ indicates under-graduate student
All Papers:
| 2021 |
|
| 4. |
Sanchez, Sebastian*, and Pranav A. Bhounsule, Design, Modeling, and Control of a Differential Drive Rimless Wheel That Can Move Straight and Turn, Automation 2, no. 3: 98-115. 2021 https://doi.org/10.3390/automation2030006 (click for video) Appendix Robot code, Mechanical design, and simulation files on github (link) |
| 3. |
R. Meka, A. Alaeddini, C. Ovuegbe, P. A. Bhounsule, P. Najafirad and K. Yang, Multi-Armed
Bandit Regularized Expected Improvement for Efficient Global
Optimization of Expensive Computer Experiments With Low Noise, in IEEE Access, vol. 9, pp. 100125-100140, 2021, doi: 10.1109/ACCESS.2021.3095755. |
| 2. |
Subramanian Ramasamy*, Jean-Paul F. Reddinger, James M. Dotterweich, Marshal A. Childers, Pranav A. Bhounsule, Cooperative route planning of multiple fuel-constrained Unmanned Aerial Vehicles with recharging on an Unmanned Ground Vehicle, International Conference on Unmanned Aircraft System (ICUAS 2021), June 15-18, 2021. |
| 1. |
Ernesto. Hernandez-Hinojosa* Aykut C. Satici, Pranav A. Bhounsule, Optimal Control of a 5-link biped using quadratic polynomial model of two-point boundary value problem, ASME-International Design Engineering & Technical Conference, (virtual), Aug 17-20, 2021. |
| 2020 |
|
| 8. | Pranav A. Bhounsule, Ernesto Hernandez-Hinojosa*, Adel Alaeddini One-Step Deadbeat Control of a 5-Link Biped Using Data-Driven Nonlinear Approximation of the Step-to-Step Dynamics. MDPI Robotics 9(4): 90, 2020. |
| 7. | Ali Zamani* and Pranav A. Bhounsule. Nonlinear model predictive control of hopping model using approximate step-to-step models for navigation on complex terrain, IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Virtual Conference, October 25-29, 2020. |
| 6 | Ali Zamani* and Pranav A. Bhounsule. Receding Horizon Control For A 2D Point-mass Hopping Model Navigating On Terrain With Stepping Stones and Stairs, ASME-Dynamics Systems and Controls Conference, Virtual Conference, October 5 - 7, 2020 |
| 5. |
Sebastian Sanchez* and Pranav A. Bhounsule, A differential drive rimless wheel that can move straight and turn, Intl. Conference on Advanced Intelligent Mechatronics, Boston, MA July 6-10, 2020. (See pubs in 2021 for extended journal version to MDPI Automation) |
| 4. |
Pranav A. Bhounsule, Myunghee Kim, Adel Alaeddini, Approximation of the Step-to-step Dynamics Enables Computationally Efficient and Fast Optimal Control of Legged Robots, ASME-International Design Engineering
&
Technical Conference, St. Louis, MO, USA, Aug 16-19, 2019. |
| 3. |
Ezra Ameperosa* and Pranav A.
Bhounsule, Domain randomization using deep neural networks for
estimating positions of bolts, ASME Journal of Computing and
Information Science in Engineering (JCISE) 2020. |
| 2. |
Pranav A. Bhounsule, Ali
Zamani*, Jeremy Krause*, Steven Farra^, Jason Pusey, Control policies
for large region of attraction for dynamically balancing legged robots:
a sampling-based approach, Robotica, 2020 |
| 1. |
Randall Manteufel, Amir Karimi, Pranav A. Bhounsule. Use of Phones and Online Tutors to Cheat on Engineering Exams American Society of Engineering Education Gulf-South West Section, University of New Mexico, NM, USA, April 23-24, 2020. |
| 2019 |
|
| 4. |
Christian Nall*, Pranav A. Bhounsule, A Miniature 3D Printed On-Off Linear Pneumatic Actuator and Its Demonstration into a Cartoon Character of a Hopping Lamp. Actuators 2019, 8, 72. (click for video) |
| 3. |
Ezra Ameperosa*, Pranav A.
Bhounsule, Domain
randomization for detection and position estimation
of multiples of a single object with applications to localizing bolts
on structures, ASME-International Design Engineering &
Technical
Conference, Anaheim, CA, USA, Aug 18--21, 2019. (click for video) (Best paper at ASME IDETC/CIE 2019) |
| 2. |
Wankun Sirichotiyakul,
Aykut C. Satici, Sebastian Sanchez*, Pranav A. Bhounsule, Energetically-optimal
Discrete And Continuous Stabilization Of The
Rimless Wheel With Torso, ASME-International Design Engineering
&
Technical Conference, Anaheim, CA, USA, Aug 18--21, 2019. |
| 1. |
A. Zamani* and J. Galloway II^, P. A. Bhounsule, Feedback motion planning of legged robots by composing orbital Lyapunov functions using rapidly-exploring random trees, IEEE Conference on Robotics and Automation, Montreal, Canada, May 20-24, 2019 (YouTube video link) |
2018 |
|
| 8. |
A. Zamani*, P. A. Bhounsule, Control Synergies for Rapid
Stabilization and Enlarged Region of Attraction for a Model of Hopping,
Biomimetics 2018, 3(3), 25; https://doi.org/10.3390/biomimetics3030025. |
| 7. |
C. Lima, L. Claeys, and P. A.
Bhounsule, Academy for
Teacher Excellence: Promoting STEM Education and STEM Careers among
Latinos Service Learning
(Under) Represented Latins in STEM: Increasing Participation Throughout
Education and the Work- place, Editors: Timothy T. Yuen, Emily P.
Bonner, Maria G. Arreguin-Anderson. Publisher: Peter Lang Inc, 2018,
ISBN. 978-1-4331-5176-7, DOI https://doi.org/10.3726/b13022. |
| 6. |
F. Moreira^, A. Abundis^ M.
Aguirre^, J. Castillo^, P. A. Bhounsule, An Inchworm-inspired Robot
Based on Modular Body, Electronics and Passive Friction Pads Performing
the Two-anchor Crawl Gait, Journal of Bionic Engineering, Volume
15, Issue 5, 2018, DOI https://doi.org/10.1007/s42235-018-0069-x (click for video) |
| 5. |
C. L. Trevino*, J. D. Galloway
II^, P. A. Bhounsule, A
Three-Dimensional Printed, Non-Assembly, Passive Dynamic Walking Toy:
Design and Analysis, Journal of Mechanisms and Robotics, doi:10.1115/1.4040634
2018 (appendix) (click for video) (simulation validation video on
YouTube), (code on GitHub) |
| 4. |
J. Krause*, P A.
Bhounsule, A 3D Printed
Linear Pneumatic Actuator for Position, Force and Impedance Control,
Actuators 7(2), 24, 2018, doi:10.3390/act7020024 |
| 3. |
J. D. Galloway II ^, G. A.
Rios^, Pranav A. Bhounsule, Mechanics
And Control Of Pumping A Playground Swing And Robotic Implementation,
UTSA Journal Of Undergraduate And Scholarly Works, Volume 3, 2018 (click for video) |
| 2. |
P. A. Bhounsule, A. Zamani*, and
J. Pusey, Switching
between Limit Cycles in a Model of Running Using Exponentially
Stabilizing Discrete Control Lyapunov Function, American Controls
Conference (ACC), Milwaukee, WI, USA June 27 - 29, 2018 (YouTube video link) |
| 1. |
P. A. Bhounsule, A. Taha, and S.
Nugruho, Control Systems
and Robotics Outreach to Middle-school Girls: Approach, Results, and
Suggestions,
Proceedings of the 2018 ASEE Gulf-Southwest Section Annual Conference
The University of Texas at Austin, TX, USA April 4-6, 2018. (Paper award, 2nd place) (YouTube video link) (files on GitHub) |
2017 |
|
| 9 |
P. A. Bhounsule, Control
based on passive dynamic walking,
Bioinspired Legged Locomotion: Models, Concepts, Control and
Applications, 1st edition, Editors: Maziar Sharbafi and Andre Seyfarth.
Publisher: Elsevier, Butterworth-Heinemann, 2017, ISBN.
9780128037744 (Book chapter) |
| 8 |
P.
A. Bhounsule and A Zamani*, A
Discrete Control Lyapunov Function for
Exponential Orbital Stabilization of the Simplest Walker, ASME
Journal
of Mechanism and Robotics Vol 9, No 5, 2017 doi:10.1115/1.4037440. |
| 7 |
P. A. Bhounsule, Two benchmarks
for optimization of legged robots – hybrid systems with impulse
effects, Dynamics of Continuous, Discrete and Impulsive Systems
Series
B: Applications and Algorithms, 24 (2017) 269-282 |
| 6 |
P.
A. Bhounsule,
K.Yamane. Accurate
Task-Space Tracking for Humanoids with Modeling
Errors using Iterative Learning Control. Intl. Journal of Humanoid
Robots, Vol. 14, No. 3 (2017) 1750015 DOI: 10.1142/S0219843617500153 Multimedia including video: https://www.disneyresearch.com/publication/accurate-task-space-tracking/ |
| 5 |
P. A. Bhounsule and A. Zamani*. Stable Bipedal Walking
Motions with a Swing-Leg Protraction Strategy, Journal of
Biomechanics, vol. 51, pp. 123 -- 127, 2017
http://dx.doi.org/10.1016/j.jbiomech.2016.11.063 |
| 4 |
A. Zamani* and P. A. Bhounsule. Foot Placement and Ankle Push-off
Control for the Orbital Stabilization of Bipedal Robots IEEE/RSJ
Intl. Conference on Intelligent Robots and Systems, Vancouver, BC,
Canada, September 24-28, 2017. |
| 3 |
M. Piper*, P. A. Bhounsule and
K. K. Castillo-Villar, How
to beat Flappy Bird: A Mixed-integer Model Predictive Control Approach,
ASME-Dynamics Systems and Controls Conference, October 11-13, 2017,
Tysons Corner, Virginia, USA. (click for
video) (code on github) |
| 2 |
J. Krause* and P.
A. Bhounsule, Variable
Position and Force Control of a Pneumatically Actuated Knee Joint,
ASME-International
Design Engineering & Technical Conference, August 6-9, 2017,
Cleveland, Ohio. |
| 1 |
P.A. Bhounsule, D. Chaney, L. Claeys and R.D. Manteufel. Robotics service learning for improving learning outcomes and increasing community engagement, American Society of Engineering Education Gulf-South West Section, Dallas, Texas, USA, March 13-14, 2017. |
2016 |
|
| 7. |
P. A. Bhounsule, J. Pusey, C. Moussouni^, A comparative study of
leg geometry for energy-efficient locomotion,
IEEE International Conference on Simulation, Modeling, and
Programming for Autonomous Robots (SIMPAR), San Francisco, USA Dec
13-16, 2016 |
| 6. |
P. A. Bhounsule,
K. Yamane, A. Bapat, A
task-level iterative learning control algorithm for accurate tracking
in manipulators with modeling errors and stringent joint limits,
ASME-Dynamics Systems and Controls Conference, Minneapolis, MN, USA Oct
12-14, 2016 |
| 5. |
P. A. Bhounsule,
E. Ameperosa^, S. Miller^, K. Seay^, R. Ulep^, Dead-beat
control of walking for a torso-actuated rimless wheel using an
event-based, discrete, linear controller, ASME-International
Design Engineering & Technical Conference, Charlotte, NC, USA Aug
21–25, 2016. |
| 4. |
A. Zamani*, P. A.
Bhounsule and J. Hurst. Energy-efficient
planning for dynamic legged robots on patterned terrain, Dynamic
Walking 2016, Holly, Michigan, USA, June 4 - 7, 2016. |
| 3. |
C. von Brecht^, B.
Kramer^, P. A. Bhounsule, A. Jafari. An impulse actuator for high speed
& high torque applications, Dynamic Walking 2016, Holly,
Michigan, USA, June 4 - 7, 2016 |
| 2 |
A. Zamani*, P. A.
Bhounsule, A. Taha. Planning
energy-efficient bipedal locomotion on patterned terrain. In Proc.
SPIE 9837, Unmanned Systems Technology XVIII, Baltimore, Maryland, USA,
April 20-21, 2016. http://dx.doi.org/10.1117/12.2223447 |
| 1 |
P.A.
Bhounsule and R.D. Manteufel. Short video clips to
increase student engagement in mechatronics, American Society of
Engineering Education Gulf-South West Section, Fort Worth, Texas, USA,
March 6-8, 2016. |
2015 |
|
| 4 |
P.
A. Bhounsule, A. Ruina, G. Steissberg. Discrete Decision Continuous
Actuation
control: balance of an inverted pendulum and pumping a pendulum swing.
ASME J. Dyn. Sys., Meas., Control 137(5), 051012 (2015) (9 pages) (click for video) |
| 3 |
P. A. Bhounsule
and K.Yamane. Iterative
Learning Control for
Accurate Task-Space Tracking with Humanoid Robots.
IEEE-International Conference on Humanoid Robots, Seoul, South Korea,
Nov 3-5, 2015. |
| 2 |
R. Brothers^, R.
De La
Garza^, E. Sanchez^, C. Trevino^, P. A. Bhounsule, "Ein: A Modular Robotic Leg"
Dynamic Walking 2015, Columbus, Ohio, USA. |
| 1 |
S. Miller^, E. Ameperosa^, K. Seay^, R. Jovanni Ulep^, P. A. Bhounsule, "The Roadrunner: A 2-D Powered Rimless Wheel Robot for Energy-efficient and Rough Terrain Locomotion" Dynamic Walking 2015, Columbus, Ohio, USA. |
2014 |
|
| 4 |
P. A. Bhounsule. Foot placement in the
simplest slope walker reveals a wide range of walking solutions.
IEEE-Transactions on Robotics, Vol 30, Issue 5, June 2014. |
| 3 |
P.
A. Bhounsule. Numerical accuracy of two
benchmark models of walking:
the rimless wheel and the simplest walker. Dynamics of
Continuous, Discrete and Impulsive Systems Series B: Applications and
Algorithms, vol. 21, pp 137--148, 2014. MATLAB file: rimlesswheel.m
and simplestwalker.m. |
| 2 |
P. A. Bhounsule. Control of a compass gait
walker based on energy
regulation using ankle push-off and foot placement.
Robotica, pp. 1--11, June 2014. |
| 1 |
P. A. Bhounsule,
J.
Cortell, A.Grewal, B. Hendriksen, J.G.D. Karssen,
C. Paul, A. Ruina. Low-bandwidth
reflex-based control for lower power
walking: 65 km on a single battery charge. International Journal of
Robotics Research, vol.33 no.10, 1305-1321, 2014. Extended
appendix. Link
to webpage. (click for video) |
2008 -- 2013 |
|
| 6 |
P.
A. Bhounsule, K.Yamane. Iterative
Learning Control for High-Fidelity
Tracking of Fast Motions on Entertainment Humanoid Robots.
IEEE-International Conference on Humanoid Robots, Georgia, USA Oct 15-
17,
2013. |
| 5 |
P. A. Bhounsule,
J.
Cortell, A. Ruina, How
one might realize
practical, energy-efficient legged robots: 19 thoughts/ideas from the
Cornell
Ranger project, Dynamic Walking 2012. (presentation slides) (youtube link) |
| 4 |
P. A. Bhounsule,
J. Cortell, A.
Ruina, “Design and control
of Ranger: an energy-efficient, dynamics walking robot”,
Climbing and Walking Robots, 441--448, CLAWAR 2012, Maryland,
USA. (Best paper in Biologically
Inspired Robotics) |
| 3 |
P.
A. Bhounsule,
A. Ruina, "Smooth
discrete control of walking robots:
An intermediate between fully passive and high bandwidth feedback
control", Word Congress of Biomechanics 2010, Singapore (presentation slides) |
| 2 |
P. A. Bhounsule, "Cornell
ranger: Energy optimal control", Proceedings of Dynamic
Walking 2009, Vancouver, Canada. |
| 1 |
P. A. Bhounsule, "Cornell ranger: computer simulation and experimental fits", Proceeding of Dynamic Walking 2008, Delft, Netherland. (Video) |
Theses:
| T12. | Ali Zamani, Toward Enhancing Stability and Agility of Dynamically Balancing Legged Robots: A Data-Driven Approach, PhD Thesis, Mechanial Engineering, UIC, Dec 2020 |
| T11. |
Chinonso Ovuegbe, Parameter selection in the dynamic window approach robot collision avoidance algorithm using bayesian optimization, MS
Thesis, Mechanical Engineering, UTSA May 2020. |
| T10. |
Justin Ernst, Tuning A Discrete Linear
Quadratic Regulator Controller Using The Region Of Attraction For The
Simplest Walker Model, MS
Thesis, Mechanical Engineering, UTSA August 2019. |
| T9. |
Andrew Waterreus, Utilization Of
Supervised And Reinforcement Learning in the Automation of the
Classical Atari Game ``pong", MS
Thesis, Mechanical Engineering, August UTSA 2019. |
| T8. |
Eric Sanchez, Rowdy Runner II:
An Independently Actuated Rimless Wheel Robot, MS
Thesis, Mechanical Engineering, December 2018. (thesis) |
| T7. |
Ezra Ameperosa, Bolt Detection
and Position Estimation using Domain Randomization, MS Thesis,
Mechanical Engineering, August 2018 (click for
video) |
| T6. |
Christian Trevino, A Miniature
Size 3d Printed Linear Pneumatic Actuator For Robotic Applications. MS
Thesis, Mechanical Engineering, December 2017. |
| T5. |
Geoffrey
Chiou, Reducing The
Variance Of Intrinsic Camera Calibration Results
In The ROS Camera_Calibration Package, Mechanical Engineering,
December
2017. |
| T4. |
Matthew Piper, How to beat Flappy Bird: A
Mixed-Integer model predictive control apporach. MS Thesis,
Mechanical Engineering, May 2017. (click for
video) |
| T3. |
Abhishek A. Bapat, "Design, prototyping and testing
of an autonomous robot with
C shaped compliant legs: AbhisHex", MS Thesis, Advanced
Manufacturing and Enterprise Engineering, December 2016. (cad files) (photos) (YouTube video) |
| T2. |
Christian L.
Trevino, "Modern Day
Advanced Manufacturing of Antique Toy
Walkers", BS Thesis, Honors College, August 2015. |
| T1. |
P. A. Bhounsule, "A
controller design framework for bipedal robots: Trajectory optimization
and event-based stabilization", PhD Thesis, Cornell
University, Ithaca, NY, USA, May 2012. The thesis led to two world records on legged robots in 2011 which have both been broken in 2015 (see below): 1) The robot walked non-stop for 40.5 miles or 65 kms on a single charge without being touched or recharged (Click for video) This record has been surpassed by Chinese robot Xingzhe No.1 in 2015 walking a distance of 83 miles (~ 134 km) in 54 hrs. 2) The same robot (in a seperate trial) walked with Total Cost of Transport (TCOT = Energy used per unit weight per unit distance travelled) of 0.19 and marginally better then 0.2 achieved by Collins walker. Note that humans have a TCOT of 0.32. (Click for video) This record has been surpassed by robot Cargo (Fumiya IIda) in 2015. Robot Cargo achieved a TCOT of 0.1. |
| Teaching |
| Teaching
at UIC |
|
| I8 |
ME370 Mechanical Engineering Design - To be taught in Fall 2021 |
| I7 |
ME594 Legged Locomotion - Taught in Spring 2021 for the first time. Course notes/videos/code are here: https://pab47.github.io/legs.html |
| I6 |
ME410 Automation and Robotic Applications: First course in robotics - Taught in Fall 2020. Course notes/videos/MATLAB files are here: tiny.cc/pranavb_robotics |
| I5 |
ME250
Introduction to
Engineering Design and Graphics: Introductory course on drafting,
design, prototyping including automation using Arduino, sensors, and
motors - Taught in Fall 2019, Spring 2020 |
| Teaching
at UTSA |
|
| I4 |
EGR2513 Dynamics: About
kinematics and dynamics of particles and rigid bodies - Taught in Spring 2017, Fall 2017, Spring 2018, Fall 2018 |
| I3. |
ME3543 Dynamic Systems and
Control: About single input, single output linear controls. - Taught Spring 2016. - Final project, designing a PID controller for Flappy Birtd |
| I2. |
ME4543
Mechatronics: About Sensors, Microcontrollers, and
Actuators - Taught in Spring 2015, Fall 2015, Fall 2018 - Iron Man comes to class (Spring '15), click for video - Mechatronics Final Project Sumobot (Spring '15). Battling Rowdy Bots, click for video - Mechatronics Final Project Robo Professor click for video and reports/instructions on github |
| I1. |
ME4773/5493 Fundamentals of
Robotics: About modeling, dynamics, and
control of manipulators and mobile robots - Taught in Fall 2014, Fall 2015, Fall 2016, Fall 2017, Spring 2019 - Webpage featuring projects in the class <webpage> - Introduction to ROS and URDF <webpage> - Christian Trevino's pendulum prototype for the DoSeum (Fall '14). (click for video) News (link) (cached) - LEGO Labs to accompany lectures (Fall '15) (click for video) - Animated Face, HW (Fall '16) YouTube link - Manipulator Curves, HW (Fall '16) YouTube link - Project: Single player pong on <GitHub> with instructions and code. - Project: LARPA Robotics Challenge (LARPA = LEGO, Automated, Reliable, Powered, Agents) (click for video) |
| Tutorials |
| D19. |
A three-day workshop on Mechatronics and Robotics (link)
1. Robotics: Simulation and animating manipulators and differential drive car. Project: Program a car game 2. Mechatronics: Understanding sensors, actuators, and arduino programming. Project: Obstacle avoiding car |
| D18. |
RoboCar - modified from an existing RC control car. RC controlled cars available in hobby stores provide a nice sturdy chassis and powerful motors. However, they are limited to RC control. What if we remove the existing electronics and controllers in an RC car and replace them with Arduino and our own sensors? This project explores the idea. The resulting car equipped with multiple line sensors and a controller is quite fast as seen in the video. YouTube video link Instructions are posted here: RoboCarTutorials |
| D17. |
Open
source quadrupedal robots. Cost is ~$2000 Instructions with files and code on GitHub A video is here: YouTube video link |
| D16. |
MATLAB
code to simulate the spring-loaded inverted pendulum model of hopping
with controlled foot placement MATLAB
code. Includes code to find the limit cycle, find linearized
stability, and animation. |
| D15. |
MATLAB
code to simulate the simplest walker using direct collocation method
MATLAB code. See The
Simplest Walker by Garcia et al. J. of Biomechanics |
| D14. |
Tips
for 3D scanning using Artec Eva scanner. A one-page file and an
accompanying YouTube video link (4 min 12
sec). A jpeg file that shows a 3Dprinted produced by the scan is here. |
| D13. |
Robobug,
a vibration motor actuated robot. Suitable as a weekend project
for elementary- and middle-school kids. No programming needed. A pdf handout (3.1 MB)
and a detailed step-by-step video, YouTube video link (6 min 22
sec) |
| D12. |
Course
material for 2 day LEGO robotics camp:
Suitable for high schoolers with little or no experience with LEGO
Mindstorms. Student learn by watching videos and then work through
progressively difficult projects: (1) Car racing, (2) Line-following,
and (3) Parallel Parking. All material is on github (free
download). YouTube video link |
| D11. |
Introduction
to ROS and URDF for robot modeling (assumes minimal knowledge of
Ubuntu, ROS, and C++) Webpage |
| D10. |
Demonstration
of energy principles in rigid body dynamics Two cylinders identical in all respects (same mass, radius, length) except that one is filled with water and other with honey are made to roll down an incline. The one filled with water rolls down first. Why? Watch the video (link here) for the answer. By Nour K. El-Ghori (High School Student) (i) Project Report, (ii) CAD files |
| D9. |
Templates
for report writing A template for writing ASME style reports by Kyle Lamoureux (includes Tables, Figures, Equations, Page Layout, Headings, Nomenclature, Flowchart, Appendix) A template for writing reports in the RAM lab by Pranav Bhounsule (short version of above) |
| D8. |
A
mathematical equation for the UTSA mascot, The Rowdy by Ryan
Kinsey, Jose Perez, and Bradley Hammond 1. Picture (jpeg) 2. MATLAB file 3. Report etc. |
| D7. |
Spring mass hopper with Raibert-style
decoupled controller. MATLAB file raibert_hopper.m
by Chelsea Moussouni |
| D6. |
Animatronics
Face. Tutorial created by Geoffrey Toombs and hosted on
instructables. (click for
video) http://www.instructables.com/id/RomoBOT-Animatronic-Face-Robot/ |
| D5. |
Make
a paper walker. Created by Christian Trevino for the Inventors
Workshop at the Children's Museum, San Antonio. Instruction (1.7 MB). Print page 3 on letter size paper and follow the instructions in the pdf. (click for video) The paper toy walker was inspired by the book, Walking Automata: A Collection of Self-Moving Models to Cut Out and Make by Magdalen Bear. |
| D4. |
Make
a vibration powered legged robot. Created by Christopher von
Brecht for the Inventors Workshop at the Children's Museum, San
Antonio. i) Write-up. (0.1MB) ii) Files for 3D printing. (0.5 MB) iii) YouTube Link. These robots were first created by Fumiya Iida's at ETH, Zurich. |
| D3. |
Want to get started with Passive Dynamic
Walking Simulations? MATLAB file passivewalker.m
to simulate a round foot passive walker. Passive walker with poincare section at midstance passivewalker_mid.m |
| D2. |
Want to simulate the rimless wheel and
simplest walker? MATLAB files: rimlesswheel.m
and simplestwalker.m. See the paper Numerical accuracy of two benchmark models of
walking:
the rimless wheel and the simplest walker for more details. |
| D1. |
Want to get started in robotics? Instructions
on assembling and programming a simple wheeled robot (video). Cost is
around $110. |
| Outreach |
We have done STEM (Science, Technology, Engineering, and Math) related outreach at local schools and the children's museum in San Antonio. We typically do 2-3 such events every year. Here are some example outreach events.
1. Workshop on creating paper-based walking toys at the San Antonio Children's Museum. (Photo link).
2. Demonstration of various robots created in the Robotics and Motion Lab. (Photo link).
3. Kids tele-operating LEGO robots. (Video link)
4. LEGO Robotics outreach at UTSA. (Video link)
5. Five day coding camp for middle school girls, https://coderunners2019.github.io/
| Sponsors |
| Funding |
Total as PI/coPI: $1.2 million,
Total as PI : $840,000
| G13. | PIs:
Kenneth Brezinsky, Patrick Lynch, Senior Personnel: Hadis Anahideh,
Pranav A. Bhounsule, Power Improvements in UAS systems: Sensing of
ignition relevant properties to enable Multifuel Operation and
Optimization to enable power sharing $2,894,559, ARL W911NF2020223,
Aug. 2020 -- July. 2024. |
| G12. |
PI: Jon Komperda, Matthew
Alonso, Patrick Lynch, Pranav Bhounsule (15%), Myunghee Kim; ARL HBCU Route the Gap: A Semi-Autonomous Wet Gap Crossing,
$11,136, CCDC Annual Historically Black Colleges and Universities
(HBCU)/Minority-Serving Institution (MSI) Undergraduate Student
Competition W911NF-20-S-0002, Apr. 2020 -- Oct. 2020. |
| G11. |
PI: Fengshan Chen (80%), Co PI:
Adel Alaeddini (5%), Pranav Bhounsule (5%), Amir Jafari (5%), Hung-Da
Wan (5%). Education, Training and Mentoring Program for National Formosa University Students in Advanced Manufacturing/Industry 4.0 National Formosa University $417,697, 2019-2021. |
| G10. |
PI: Pranav Bhounsule (34%) Co
PI: Lorena Claeys (33%), Belinda Harmon (33%), Code camp for girls to
increase STEM awareness in low-income neighborhood in San Antonio,
Texas Workforce Commission, 2018-2019, $99,997. |
| G9. |
PI Pranav Bhounsule (100%), RI:
Small: Agile legged robots: composing periodic gaits for aperiodic
locomotion, $383,007, NSF-IIS, RI 2018 -- 2021. |
| G8. |
PI Pranav Bhounsule (100%), 2
Baxter robots (donation), Continental Automative, Seguin, $60,000
(approximate total value), 2018. |
| G7. |
PI: David Akopian (33.33%),
co-PIs Yongcan
Cao (33.33%), Pranav Bhounsule (33.33%), Boeing Go-Fly contest Phase I,
Private
Donation, Jan 1, 2018 to May, 2018, Total $38,000. |
| G6. |
PI: Pranav Bhounsule (100%),
Collaborative Research: Engineering Identity, its Predictors, and its
Impact on Retention across Educational Stages, NSF Engineering
Education, Subcontract University of Texas at Austin, 2018 - 2019,
Total 7,000. |
| G5. |
PI: Ahmad Taha (34%), coPIs
Chunjian Qian (33%) and Pranav Bhounsule (33%) Control Systems
Education and Outreach to Low-Income High-School Students in San
Antonio, IEEE Control Systems Society, 2017-2018, Total $10,000. |
| G4. |
PI: Pranav Bhounsule (100%)
Accelerated path teaching for robotic routing using ROS Industrial
framework, 2016-2017, Southwest Research Institute (contract),
$47,097. |
| G3. |
PI: Pranav Bhounsule (100%)
Highly customizable, light weight artificial legs based on
embedding actuators and sensors in 3D printed parts. Grants for
Research Advancements and Transformation (GREAT), Office of Vice
President of Research, the University of Texas at San Antoino,
2016-2017, $20,000. (link)
(cached) |
| G2. |
PI: Pranav Bhounsule (100%),
Tackling
high D/F/W rates in Engineering Dynamics through a games-based
pedagogy. Sawtelle Financial Teaching Innovation Grant 2016-2017,
$3,000. (link)
(cached) |
| G1. |
PI: Pranav Bhounsule (100%),
NSF-CRII:
Energy effective and versatile bipedal robots using event-based
switching between parameterized steady-state controllers. NSF-IIS-CRII,
2016-2018, $167,024 (link)
(cached) |
| Awards |
| A12. |
Ernesto Hinojosa-Hernandez, American Heart Association, Pre-doctoral Fellowship (2-years), 2021-2023 (link) (cached) |
| A11. |
Ali Zamani, ● Graduate Student Award for Exceptional Research Promise, University of Illinios at Chicago, 2020. (link) (cached) ● Graduate Student Professional Development Awards, University of Texas at San Antonio, 2018. ● Harnek S. and Malkit Gill Endowed Scholarship, University of Texas at San Antonio,2018. ● Harnek S. and Malkit Gill Endowed Scholarship, University of Texas at San Antonio, 2017. ● Competitive Valero Research Scholarship, College of Engineering, University of Texas at San Antonio, 2015-2016. ● Competitive Mechanical Engineering PhD Fellowship, University of Texas at San Antonio, 2015-2016. |
| A10. |
Ezra Ameperosa, Best Paper award
in ASME-International Design Engineering Technical Conferences &
Computers and Information in Engineering Conference (IDETC/CIE 2019) |
| A9. |
Drishya Dahal, 3 “Best in Show”
at the 2018 Undergraduate Research & Creative
Inquiry Showcase in the College of Engineering for tic-tac-toe robot. |
| A8. |
Joseph Galloway and Gerardo
Aaron Rios, 3 “Best in Show” at the 2018 Undergraduate Research &
Creative Inquiry Showcase in the College of Engineering for pumping
swing pendulum robot |
| A7. |
Joseph Galloway, UTSA Office of
Undergraduate Research Scholarship, Fall 2017. |
| A6. |
Drishya Dahal and Shicheng Zhou,
UTSA Office of Undergraduate Research Scholarship, Spring 2017 (link)
(cached) |
| A5. |
Geoffrey Toombs and James
Schopfer, Finalist in the Instructables Robotic Contest 2016 (only 19
finalists out of 222 entries) (link) (cached) |
| A4. |
Christian Trevino,
Most Exceptional Graduate Student, 2015-2016, College of Engineering, UTSA. (pdf) For outstanding dedication and effort. |
| A3. |
Christian Trevino,
Valero VIP MS Research Scholarship Outstanding Awards 2015, College of Engineering, UTSA. For incoming graduate student with outstanding research credentials. |
| A2. |
Raquel De La
Garza, Christian Trevino, Robert Brothers, and Eric
Sanchez. Best Mechanical Engineering Design, 2nd Place UTSA Technology Symposium, 2015. |
| A1. |
Rico Jovanni Ulep,
Kyle Seay, Ezra Ameperosa, and Scott Miller. Best Mechanical Engineering Design, 3rd Place UTSA Technology Symposium, 2015. |
| Robots (click
the name below the photo for streaming video) |
 Shush-Bot |
 Rowdy Walker |
 Romo-bot |
 Roadrunner 1 |
 Paper Walker |
 Guide-Bot |
 Ein, Modular Legs |
 Dancing
Pendulum |
 Inchworm |
 Luxo Jr. Hopping Lamp |
 Pumping a swing robot |
 UTSA Darwin |
 Roadrunner 2 |
 Open source quadruped |
| Media Coverage |
| M18. |
Miniature 3D printed linear actuator / Disney/Pixar Hopping Lamp 3Dprint.com: Researchers Recreate Hopping Disney/Pixar Lamp with 3D Printed Actuator, Oct 30, 2019 (link) (cached) |
| M17. |
IEEE Control Systems
Education and Outreach to Low-Income High-School Students in San
Antonio Short blurb on the IEEE Control Systems Magazine (August 2019) |
| M16. |
Code
camp for middle school girls 1) San Antonio Express News 7/18/2019 At camp, girls find that coding indeed does compute, UTSA program lets the middle schoolers learn while having a good time (another link) (cached) 2) UTSA Today 7/22/2019 Girl code power: Middle schoolers explore STEM during summer camps on the Westside (cached) 3) KSat 7/25/2019 TECH SA: UTSA STEM camp for girls offered on West Side (cached) Video link https://www.facebook.com/watch/?v=469001010549548 (cached) (YouTube) |
| M15. |
UTSA
Mechatronics Final Project - Hall of Engineering Professors KABB Fox News 29, Dec 1, 2018, (videolink) San Antonio Express News, December 1, 2018, Attack of the cyborgs (link) (cached) |
| M14. |
Robotics
and Motion Lab promoting the Doseum's new exhibit Science Fiction
Science Now Kens 5 TV San Antonio: October 12, 2017. Andrew Waterreus, ME UTSA graduate student features from 2:30 to 3:30 with UTSA Darwin OP2 (link) (cached) San Antonio Express News: October 9, 2017. Kids can explore science possibilities in DoSeum exhibit (link) (cached) |
| M13. |
Service
Learning in under-graduate Robotics class. ATE brings service learning opportunities to COE, Sep 8, 2016 (link) (cached) Education + Engineering = Success, ATE brings service learning opportunities to COE, Winter 2016 (link) (cached) |
| M12. |
Meet a Roadrunner, Christian
Trevinio,
UTSA Today, June 15, 2016 (link)
(cached) |
| M11. |
Animatronics Face: RomoBot Adafruit Blog: The RomoBOT, an Arduino Powered Animatronic Face, May 16, 2016 (link) (cached) Arduino Blog: Two College Students Build A Hilarious Animatronics Face, May 13, 2016 (link) (cached) Hackaday: Robo Face Speaks, May 12, 2016 (link) (cached) |
| M10. |
Rowdy Walker: UTSA Press release: Re-engineering an antique walking toy allows it to practically walk out of the 3D printer (link) 3Ders.org: Texas researchers re-engineer vintage toy to walk right out of 3D printer, May 11, 2016 (link) (cached) UTSA Engineering: Recreating Antique Toys with Modern Technology, May 9, 2016 (link) (cached) and Innovations Magazine Spring 2016 (link) (cached) UTSA photo of the day: Strutting Rowdy, April 28, 2016 (link) (cached) |
| M9. |
UTSA professor receives grant to
create more versatile legged robots, May 2, 2016 (link)
(cached) |
| M8. |
Paper Walker: COE students volunteer at the DoSeum, UTSA Innovations magazine, Jan 29, 2016 (back cover) (link) (cached) Engineering students team up with The DoSeum for STEM outreach, UTSA Community Connect, Fall 2016, (link) (cached) UTSA photo of the day: Rowdy on the run, Jan 5, 2016 (link) (cached) |
| M7. |
Robotics
Frontiers, Students are
taking engineering skills to new levels, including bots that interact
with humans, UTSA Sombrilla Magazine, July 6, 2015 (link)
(cached) UTSA photo of the day: Innovative Robots, June 14, 2016 (link) (cached) |
| M6. |
Dancing Pendulums: UTSA student’s dancing pendulums find home in The DoSeum, June 23, 2015 (link) (cached) |
| M5. |
Mechatronics Class final project Mechatronics Rowdy Bots contest on UTSA College of Engineering Innovations Magazine, from Spring 2015 issue (cached) UTSA photo of the day: Battling Robots, Dec 10, 2015 (link) (cached) |
| M4. |
Are walking,
talking, feeling robots like Chappie in our future? March 5, 2015 (link) (Cached) |
| M3. |
Meet a Roadrunner,
Pranav Bhounsule, UTSA Today, Nov 19, 2014 (link)
(cached) |
| M2. |
Cornell Ranger
Ultra-Marathon Walking TV NTDTV - Cornell Students' Walking Robot Sets World Record 1 min 31 sec (link) (youtube) (youtube_cached) Reuters - Walking robot sets record 1min 12 sec (link) Web Dailymail - Marathon robot: 'Ranger' sets a world record by walking 40.5 miles non-stop on a single battery charge (link) (cached) MSNBC - Robot walks 40.5 miles non-stop (link) (cached) Engadget - Cornell's Ranger robot walks 40.5 miles on a single charge, doesn't even break a sweat (link) (cached) Cornell Chronicle - Robot walks a 40.5-mile ultramarathon without recharge (link) (cached) Gizmag - Ranger robot breaks its own endurance record (link) (cached) Popsci - Ranger robot sets a new distance record, walking 40 miles on a single charge (link) (cached) Ubergizmo - Robot Ranger walks 40.5 miles on solitary battery charge, setting a new world record in the process (link) (cached) Tecca - Ranger robot trots 40 miles straight on 5 cents worth of electricity (link) (cached) |
| M1 | Mechanical & Aerospace Engineering, Cornell University (Fall 2011 newsletter) (Cached) |
| Videos |
| Rowdy Runner II: An Independently Actuated Rimless Wheel
Robot Eric Sanchez, MS Thesis, ME UTSA and Sebastian Sanchez* and Pranav A. Bhounsule, A differential drive rimless wheel that can move straight and turn, Intl. Conference on Advanced Intelligent Mechatronics, July 6-10, 2020. |
|
| A miniature size 3D printed linear pneumatic actuator for robotic applications Christian Trevino, MS Thesis ME UTSA and Christian Nall*, Pranav A. Bhounsule, A Miniature 3D Printed On-Off Linear Pneumatic Actuator and Its Demonstration into a Cartoon Character of a Hopping Lamp. Actuators 2019, 8, 72 |
|
| Domain Randomziation for detection and localization
of bolts Ezra Ameperosa*, Pranav A. Bhounsule, Domain randomization for detection and position estimation of multiples of a single object with applications to localizing bolts on structures, ASME-International Design Engineering & Technical Conference, Anaheim, CA, USA, Aug 18--21, 2019. |
|
| Mini project
in the robotics class -- LEGO robots for simulated Nuclear Disaster
site relief LARPA Robotics Challenge LARPA = LEGO, Automated, Reliable, Powered, Agents Instructions are on github: |
|
| An inexpensive open-source quadrupedal robot Senior Design Project By Steven Farra, Emiliano Rodriguez, Mario Navarro, John Carroll All ME Seniors Project Report (3.3 MB) |
|
| UTSA Mechatronics final project Fall2018 -
Hall of engineering professors The students had to visit an assigned professor record his/her voice, take a photo and then create a robotic face that incorporated the face, voice. The robotic face had to have two moving parts, one of which was the mouth and the other was left to their choice. There had to be two sensors on board that would allow interaction between the user and the robotics face (e.g., on waving to the animatronics the face would talk). The entire playlist of 40 profs is to the left but you can select videos to play by clicking this shortened link: http://tiny.cc/roboprof |
|
| Auto sunglass Independent Project June -- Aug 2018 Victor Guzman (High School Student) Project Report |
|
DIY: Robobug, a vibration motor actuated robot Independent project Sierra Baumbusch (ME Senior) Tutorial slides (3.1 MB) Detailed video is to the left (6 min 22 sec) |
|
Humanoid robot dancing to UTSA song and others Undergraduate research Emiliano Rodriguez (ME Senior) |
|
Tic-Tac-Toe Robot Independent Project Drishya Dahal (ME Junior) |
|
An Inchworm Robot Senior Design Project By Anthony Abundis, Michael Aguirre, Justin Castillo, and Flavio Moreira All ME Seniors Project Report (7.5 MB) |
|
Pumping a playground swing in the standing position Independent Project By Gerardo (Aaron) Rios and Joseph Galloway ME Juniors Project report (1.2 MB) |
|
3D printing of rolling cylinders for demonstration of energy principles Two cylinders identical in all respects (same mass, radius, length) except that one is filled with water and other with honey are made to roll down an incline. The one filled with water rolls down first. Why? Watch the video for the answer. By Nour K. El-Ghori (High School Student) (i) Project Report, (ii) CAD files |
|
Trashbot: A trash collecting robot Independent Project By Drishya Dahal and Joseph Galloway ME Sophomores Project Report (0.2 MB) |
|
How to Beat Flappy Bird: A mixed-integer model predictive control approach Matthew Piper, Pranav A. Bhounsule and Krystel K. Castillo-Villar, How to beat Flappy Bird: A Mixed-integer Model Predictive Control Approach, ASME-Dynamics Systems and Controls Conference, October 11-13, 2017, Tysons Corner, Virginia, USA. |
|
| Rowdy Wear: a gadget that helps you make swift
decisions Summer Project By Panchajanya Karasani ME Sophomore Total cost is about $5.00: 1 ATtiny85 controller, $1.25 1 Prototyping board, $1.25 1 Push Button $ 1.0 2 LED, $0.50 1 Coin cell CR2032, $0.50 1 Socket, $0.50 1 VELCRO strip (optional) |
|
Pneumatic Shoes For Jump Height Augmentation Senior Design Project By Ivelisse Negroni, Noah Trent, Cesar Sifuentes, Michael Turasz All ME Seniors Project Report (3.4 MB) |
|
Rowdy walker: A 3D printed downhill walking toy BS Thesis, Honors College By Christian Trevino, ME Senior (currently ME Grad. Student) BS Thesis. |
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| Animatronics
Face Independent Study Project, Entry to the Spring 2016, Center for Innovation, Technology, and Entrepreneurship (CITE) $100 K Business Competition at UTSA, Finalist in the Instructables Robotic Contest 2016 (only 19 finalists out of 222 entries) (link) (cached) By Geoffrey Toombs and James Schopfer ME Seniors Project Report (4.7 MB) |
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Paper walker for the Inventors Workshop at the Children's Museum, San Antonio. By Christian Trevino, ME Graduate Student, UTSA. COE Innovations Magazine back cover (cached) |
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ME 4773: Fundamentals of Robotics, Technical Elective for ME Juniors/Seniors at UTSA. Robotics Labs 1. Line following robots. 2. Can picking robot. 3. Face drawing robot. |
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Physics demonstration: Dancing pendulums for San Antonio Children's Museum (Prototype) By Christian Trevino, ME Senior, UTSA. UTSA news (link) (cached) |
UTSA commercial 2015. Our robots were featured in the UTSA commercial. At 6 sec: Christian Trevino, Raquel De La Garza, and Eric Sanchez with Ein At 10 sec: Roarunner rolling around with Rico Ulep, Scott Miller, Ezra Ameperosa, Robert Brothers, Raquel De La Garza and Eric Sanchez in the background |
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Ein: A modular robotic leg. Senior Design Project By Christian Trevino, Eric Sanchez, Robert Brothers, and Raquel De La Garza, All ME Seniors Project Report (9.3 MB) |
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Roadrunner: A rimless wheel based locomotion robot. Senior Design Project By Rico Ulep, Scott Miller, Ezra Ameperosa, and Kyle Seay, All ME Seniors Project Report. (7 MB) |
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Smart Humanoid Used for Silencing Humans (SHUSH) Bot: A robot for silencing noisy students in the library Senior Design Project By Javi Gonzalez, Stacy Alexander, Thilo Janssen, Roberto Mexquitic, All ECE Seniors. Project Report. (3 MB) |
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Mobile Automatd Directory (MAD "Max): A guide robot for UTSA. Senior Design Project By Cory Royal, William Morris, Dylan Odle, All ECE Seniors. Project Report. (1 MB) |
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Cornell Ranger walks a 40.5 mile (65 km) ultra-marathon P. A. Bhounsule, J.
Cortell, A. Grewal, B. Hendriksen, J.G.D. Karssen,
C. Paul, A. Ruina. Low-bandwidth
reflex-based control for lower power
walking: 65 km on a single battery charge. International
Journal of
Robotics Research, vol 33. no. 10. 1305-1321.
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Cornell Ranger's most energy-efficient walk with a Total Cost of Transport (Energy used per unit weight per unit distance moved) of 0.19. This is the lowest TCOT ever achieved on a legged robot. |
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Controlling a system with time delays larger than the characteristic time constant of the system. P. A. Bhounsule and A. Ruina. Discrete Decision Continuous Actuation control: balance of an inverted pendulum and pumping a pendulum swing. J. Dyn. Sys., Meas., Control 137(5), 051012 (2015) |
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ME 4543: Mechatronics Course Core Course for ME Juniors/Seniors at UTSA. Final Hardware Project: Battling Rowdy Bots |
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When Iron Man came to the Mechatronics Class at UTSA. Starring: Albert Lee. Read more about him over here: http://www.utsa.edu/today/2015/02/lee.html |
Last updated July 27, 2021.
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