Theses

T18. Ragib Rownak, Autonomous Navigation and Simultaneous 3D Mapping with a UGV in an Open-Ended Environment, MS Thesis, Mechanical Engineering, UIC, Aug. 2025.

T17. Simone Ughetto, Autonomous Dynamic Grasping with a Robotic Arm: Real-Time Motion Prediction and Adaptive Control, MS Thesis, Electrical Engineering, UIC, Aug. 2025.

T16. Subramanian Ramasamy, Developing Computationally Efficient Optimization Framework for Collaborative Routing of UAV-UGV System, PhD Thesis, Mechanical Engineering, UIC, May 2025.

T15. Abhishek_Kasaragod, Dynamic Pick-and-place System For A Manipulator On A Quadruped Using Object Detection, MS Thesis, Mechanical Engineering, UIC, Aug. 2024.

T14. Venkata Chinthalapati, Autonomous Navigation Of Quadruped Integrated With Manipulator, MS Thesis, Mechanical Engineering, UIC, Aug. 2024.

T13. Ernesto Hernandez Hinojosa, Real-world Implementation of Simplified Dynamic Models for Bipedal Robot Control, PhD Thesis, Mechanical Engineering, UIC, Dec 2023.

T12. Ali Zamani, Toward Enhancing Stability and Agility of Dynamically Balancing Legged Robots: A Data-Driven Approach, PhD Thesis, Mechanical 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.

T7. Ezra Ameperosa, Bolt Detection and Position Estimation using Domain Randomization, MS Thesis, Mechanical Engineering, August 2018 (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. (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 | 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 (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.