Modlab The Modular Robotics Laboratory at the University of Pennsylvania

Modlab
Flying Devices
American Helicopter Society Student MAV Challenge 2015
American Helicopter Society Student MAV Challenge 2015

We have developed a low-cost, lightweight coaxial-rotor MAV capable of full attitude control using just two actuators. The vehicle provides real-time telemetry and high-quality video to a ground station which can be used to remotely pilot the vehicle. The design integrates the underactuated rotor system developed in the lab with parts of cheap helicopter toys […]

Passive Stability of MAVs Without Angular Momentum
Passive Stability of MAVs Without Angular Momentum

We modeled and built Micro Aerial Vehicles (MAVs) that naturally hover without any sensing or control. These types of vehicles, called passively stabilized vehicles, can be made less complicated, more robust, and at lower cost with the addition of simple, yet carefully designed, stabilizer sails.

Underactuated Rotor for Simple Micro Air Vehicles
Underactuated Rotor for Simple Micro Air Vehicles

We extract thrust, roll, and pitch authority from a single propeller and single motor through an underactuated mechanism embedded in the rotor itself. This allows new types of conventionally-capable micro air vehicles now requiring only two motors. This contrasts with the servos and linkages of conventional helicopters or the four drive motors in quadrotors.

Passive Stability of a Single Actuator MAV
Passive Stability of a Single Actuator MAV

In an effort to build one of the world’s smallest flying vehicles, we built a flying vehicle with only two moving parts connected by one motor. Because the vehicle cannot control its attitude with its one actuator, passive stability is a required trait, so we derived design requirements for making passively stable vehicles.

SEAL Pack
SEAL Pack

The SEAL Pack is versatile, portable, and quickly deployable, similar to the Navy SEALs.  SEAL stands for SEa, Air, and Land and the SEAL Pack is versatile enough to traverse all three.  The SEAL Pack is transported in a compact way, and can be unpacked into either a car, boat, or quadrotor in a matter of minutes thanks to its modular design.

Hybrid Exploration Robot for Air and Land Deployment (H.E.R.A.L.D)
Hybrid Exploration Robot for Air and Land Deployment (H.E.R.A.L.D)

A team of five mechanical engineering seniors, in collaboration with the Modular Robotics Laboratory and under the guidance of Dr. Mark Yim, have designed a search and rescue research platform intended to address limitations of current search and rescue robots and introduce a novel form factor and integration technique into the field.

ModLock
ModLock

Connection mechanisms are critical to modular reconfigurable systems. The ModLock manual connection system is both fast to attach/detach and strong. This low cost, low profile connection system has been demonstrated on a variety of robot configurations including legged walkers, flying quadrotors and wheeled robots.

Dysc
Dysc

The Dysc is a new MAV with counter-rotating rotors that uses gyroscopic moments for attitude control. The two rotors are fixed pitch, eliminating the need for complex mechanisms like the swashplate, leading to lower cost and easier maintenance when compared to traditional helicopter configurations. In addition, the Dysc has the potential for higher agility than quadrotors.