General Robotics, Automation, Sensing and Perception (GRASP) Laboratory

General Robotics, Automation, Sensing and Perception (GRASP) Laboratory
Name	General Robotics, Automation, Sensing and Perception (GRASP) Laboratory
Established	1979
Parent	University of Pennsylvania
Director	Kostas Daniilidis
Field	Robotics, Computer vision, Artificial intelligence
City	Philadelphia
State	Pennsylvania

General Robotics, Automation, Sensing and Perception (GRASP) Laboratory. It is a premier interdisciplinary research center within the University of Pennsylvania's School of Engineering and Applied Science. Founded in the late 1970s, the laboratory has been at the forefront of advancements in autonomous systems, computer vision, and robotic manipulation. Its work bridges foundational research and real-world applications, contributing significantly to fields like medical robotics, field robotics, and human-robot interaction.

History and founding

The laboratory was established in 1979 by visionary faculty including Ruzena Bajcsy, who served as its first director. Its creation was supported by a major grant from the National Science Foundation and was part of a broader national initiative in robotics research. Early work focused on foundational problems in machine perception and kinematics, setting a precedent for its interdisciplinary approach. Under subsequent leadership, including directors like Jean-Jaques Slotine and Vijay Kumar, it expanded its scope and international reputation. The lab has been housed in several locations on the University of Pennsylvania campus, most recently in the Levine Hall and the Skirkanich Hall, reflecting its growth.

Research areas and projects

Core research is organized around several synergistic themes. In aerial robotics, the lab pioneered decentralized control algorithms for swarm robotics, demonstrated by fleets of autonomous quadrotors. The ModLab focuses on modular robotics and self-reconfiguring systems. Major initiatives in medical robotics include collaborative systems for surgical assistance and rehabilitation robotics. The Penn Manipulation and Language (MaLi) Lab explores natural language processing for robot instruction. Other active areas comprise haptic feedback, robotic grasping, 3D reconstruction, and visual SLAM, often in partnership with agencies like DARPA and NASA.

Key personnel and leadership

The laboratory is directed by Kostas Daniilidis, a renowned expert in computer vision. Its faculty includes influential researchers such as Mark Yim in modular robotics, Daniel Koditschek in legged robotics, and Michael Posa in control theory. Notable affiliated faculty and alumni encompass C.J. Taylor in vision-based tracking, Shivkumar Kalyanaraman in networked systems, and James Kuffner of the Toyota Research Institute. Past directors and senior figures like Ruzena Bajcsy and Vijay Kumar have received honors including the IEEE Robotics and Automation Award and membership in the National Academy of Engineering.

Facilities and resources

The laboratory occupies state-of-the-art spaces across the University of Pennsylvania engineering complex. Its main labs in Levine Hall and the Towne Building feature high-bay flight arenas for testing aerial vehicles, along with dedicated rooms for human-robot interaction studies. The ModLab contains specialized workstations for assembling and programming modular systems. Resources include advanced motion capture systems from Vicon, a wide array of robotic platforms from Boston Dynamics and ABB Ltd., and extensive GPU computing clusters. These facilities support collaborative projects with institutions like the Children's Hospital of Philadelphia.

Notable achievements and impact

The laboratory has produced many landmark innovations. Its work on swarm robotics was famously demonstrated in a 2012 TED Talk by Vijay Kumar. Researchers developed the RHex and MiniRHex series of legged robots, inspiring platforms used by the U.S. Army. In computer vision, contributions include foundational algorithms for structure from motion and visual odometry. The lab's spin-off companies, such as Exyn Technologies and Realtime Robotics, commercialize technologies for autonomous drones and motion planning. Its research has been recognized with numerous best paper awards at premier venues like the IEEE International Conference on Robotics and Automation.

Academic programs and education

The laboratory is integral to the University of Pennsylvania's graduate and undergraduate programs in Robotics, which grants Master of Science in Engineering and Doctor of Philosophy degrees. It administers the Robotics MSE program, attracting students from diverse backgrounds in mechanical engineering, electrical engineering, and computer science. Students engage in hands-on research through the Penn Engineering summer internship programs and capstone design projects. The lab also hosts outreach initiatives like the GRASP Summer Academy to inspire pre-college students. Its graduates hold prominent positions in academia, at companies like Google X and Boston Dynamics, and within research agencies.

Category:University of Pennsylvania Category:Robotics research institutes Category:Research institutes in Pennsylvania Category:Computer vision organizations