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Mobile Robot

Welcome to the Innovation in Robotics Laboratory at Villanova University. This Lab was created to support research and applications in Robotics with emphasis on developing new ideas in actuation, real-time implementation and control, and establishment and infusion of robotics in education. Examples of prototype robots developed in the lab are a three degree-of-freedom robotic arm actuated by Shape Memory Alloy, a biped robot, a spherical robot, and an exoskeleton used for lower leg rehabilitation. The specific research topics include rapid prototyping/automatic code generation, real-time control, path/trajectory planning and obstacle avoidance.

Projects

Exoskeleton Video

Quanser Inverted Pendulum with swing up and a nonlinear sliding mode controller

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