معرفی
Daniel E. Koditschek is the Alfred Fitler Moore Professor in the Department of Computer and Information Science at the University of Pennsylvania’s School of Engineering and Applied Science. He also holds primary appointments in the Department of Electrical and Systems Engineering and a research affiliation with the Department of Mechanical Engineering and Applied Mechanics. He is a leading figure in the GRASP Lab, where he leads the Kod*lab, a specialized group focused on physical interaction and locomotion in autonomous robots.
His research lies at the intersection of dynamical systems theory and robotics, emphasizing legged locomotion, hybrid control systems, and bio-inspired design. Koditschek's work integrates formal mathematical modeling with empirical testing of physical robots that run, jump, climb, and manipulate objects. He actively explores how biological insights into animal mobility can inform robotic autonomy and control. His group maintains strong collaborations with biologists and emphasizes embodied intelligence in machine behavior.
The recent publications reflect a strong trend in applying theoretical control frameworks—such as hybrid dynamical systems, averaging methods, and navigation functions—to practical robotic challenges in unstructured environments. Topics include terrain adaptation, energy-efficient locomotion, reactive planning, and affordance-based interaction. There is a clear focus on bridging abstract mathematical models with real-world robotic performance, particularly in legged and mobile manipulation systems.
- IEEE RAS Pioneer Award
- Heilmeier Research Award
- AFOSR MURI Award (2010)
Daniel Koditschek has advised numerous PhD students and postdoctoral researchers, many of whom now hold faculty positions or leadership roles in robotics companies like Ghost Robotics and Boston Dynamics. His research is supported by major grants from the NSF and AFOSR, including the MURI award and REU/RET programs that engage K-12 and undergraduate educators. He has also been involved in international outreach, including activities at the Penn Wharton China Center.
Koditschek leads the Kod*lab within the GRASP Lab’s PERCH facility, which houses advanced legged robots such as the Ghost Minitaur, XRHhex, Inu, Delta Hopper, and Jerboa platforms. The lab emphasizes experimental validation of control theories using custom hardware and real-world terrain challenges.
