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