Data-driven Identification of a Non-homogeneous Inverted Pendulum Model for Enhanced Humanoid Control

E. Hernandez-Hinojosa, and P. A. Bhounsule, Data-driven Identification of a Non-homogeneous Inverted Pendulum Model for Enhanced Humanoid Control, In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), Austin, TX, USA, Dec 12-13 2023

Task-level control and Poincare map-based sim-to-real transfer for effective command following of quadrupedal trot gait

Jeremy Krause, Adel Alaeddini, Pranav A. Bhounsule, Task-level control and Poincare map-based sim-to-real transfer for effective command following of quadrupedal trot gait, In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), Austin, TX, USA, Dec 12-13 2023.

Optimizing Fuel-Constrained UAV-UGV Routes for Large Scale Coverage: Bilevel Planning in Heterogeneous Multi-Agent Systems

Md. S. Mondal, S. Ramasamy, J. F. Reddinger, J. M. Dotterweich, J. D. Humann, M. A. Childers, P. A. Bhounsule Optimizing Fuel-Constrained UAV-UGV Routes for Large Scale Coverage: Bilevel Planning in Heterogeneous Multi-Agent Systems,, IEEE International Symposium on Multi-Robot \& Multi-Agent Systems, Dec 4-5 2023, Boston, MA, USA

Gaussian Process Regression For Sim-to-real Transfer Of Hopping Gaits

Jeremy Krause, Adel Alaeddini, Pranav A. Bhounsule, Gaussian Process Regression For Sim-to-real Transfer Of Hopping Gaits, ASME-International Design Engineering & Technical Conference, Boston, MA, USA, Aug 20-23, 2023.

A Simple Controller for Omnidirectional Trotting of Quadrupedal Robots: Command Following and Waypoint Tracking

Pranav A. Bhounsule, Chun-Ming Yang, A Simple Controller for Omnidirectional Trotting of Quadrupedal Robots: Command Following and Waypoint Tracking, Robotics 12, no. 2 (2023): 35. Simulation code on Github.

Computer vision-based obstacle avoidance system for a quadruped robot
Senior Design Project, August 2021 - May 2022
Emily Hernandez, Alex Domagala, Pranay Singh, Jon Perthel (ECE Seniors)
1) Report 2) Presentation 3) Video 4) Github

Sawfly larvae inspired swarm robots
Senior Design Project, August 2021 - May 2022
Eric Najera, Kyle Kendra, Joe Downie, Yuki Nojima (ME Seniors)
1) Report 2) Presentation 3) Video

A Tic-Tac-Toe Playing Robot
Jonathan Garcia (ME Senior), May 2021 - May 2022

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

Senior Design Project

By Steven Farra, Emiliano Rodriguez, Mario Navarro, John Carroll

All ME Seniors
Project Report (3.3 MB)

UTSA Mechatronics final project Fall 2018 - 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 - August 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)

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

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)

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)

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.

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

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)

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)

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)

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)

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.

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.

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)

ME 4543: Mechatronics Course

Core Course for ME Juniors/Seniors at UTSA.

Final Hardware Project: Battling Rowdy Bots

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