For walking, jumping, running, and more, we have an Agility Robotics Cassie robot nicely styled in Penn blue. Cassie has ten motors, five per leg, and also features leaf springs and kinematic linkages. Stop by Towne 170B, or spot Cassie out and about on campus.

Located in GRASP@Levine, manipulation experiments are conducted on a Franka Emika Panda and other robot arms. Reflecting the collaborative nature of GRASP, the Panda is shared among multiple research groups.

To push the limits of dexterous manipulation, we have built an open-source three-fingered handle, capable of high-speed force-controlled motion, the TriFinger.

Outside of the big robots, we conduct smaller-scale experiments. For instance, an underactuated, hybrid cart-pole setup for evaluating contact-aware control and a cube in motion capture to learn contact dynamics.