Publications

Ph.D. Dissertation:

  • [2012,phdthesis] bibtex Go to document
    J. Sastra, "Using Modular Reconfigurable Robots for Rapid Development of Dynamic Locomotion Experiments," PhD Thesis , 2012.
    @phdthesis{JS:12,
      author = {Jimmy Sastra},
      title = {Using Modular Reconfigurable Robots for Rapid Development of Dynamic Locomotion Experiments},
      school = {University of Pennsylvania},
      year = {2012},
      url = {http://jimmysastra.com/wp-content/uploads/publications/JimmySastraDissertation.pdf}
    }

Journal Articles:

  • [2009,article] bibtex Go to document
    J. Sastra, S. Chitta, and M. Yim, "Dynamic Rolling for a Modular Loop Robot," The International Journal of Robotics Research, vol. 28, iss. 6, pp. 758-773, 2009.
    @article{JS:SC:MY:09:journal,
      author = {Jimmy Sastra and Sachin Chitta and Mark Yim},
      title = {Dynamic Rolling for a Modular Loop Robot},
      journal = {The International Journal of Robotics Research},
      volume = {28},
      number = {6},
      pages = {758-773},
      doi = {10.1177/0278364908099463},
      year = {2009},
      abstract = {Reconfigurable modular robots have the ability to use different gaits and configurations to perform various tasks. A rolling gait is the fastest currently implemented gait available for traversal over level ground and shows dramatic improvements in efficiency. In this work, we analyze and implement a sensor-based feedback controller to achieve dynamic rolling for a loop robot. The robot senses its position relative to the ground and changes its shape as it rolls. This shape is such that its center of gravity is maintained to be in front of its contact point with the ground, so in effect the robot is continuously falling and thus accelerates forward. Using simulation and experimental results, we show how the desired shape can be varied to achieve higher terminal velocities. The highest velocity achieved in this work is 26 module lengths per second (1.6 m/s) which is believed to be the fastest gait yet implemented for an untethered modular robot. One of the major findings is that more elongated shapes achieve higher terminal velocities than rounder shapes. We demonstrate that this trend holds going up inclines as well as down. We show that rounder shapes have lower specific resistance and are thus more energy efficient. The control scheme is scalable to an arbitrary number of modules, shown here using eight to 14 modules. },
      url = {http://jimmysastra.com/wp-content/uploads/publications/rolling_dynamics.pdf},
      eprint = {http://ijr.sagepub.com/cgi/reprint/28/6/758.pdf}
    }

Book Chapters:

  • [2009,inbook] bibtex Go to document
    M. Yim, P. White, M. Park, and J. Sastra, "Encyclopedia of Complexity and System Science." New York: Springer, 2009.
    @inbook{MY:PW:MP:JS:09,
      author = {Mark Yim and Paul White and Michael Park and Jimmy Sastra},
      title = {Encyclopedia of Complexity and System Science},
      chapter = {Modular Self-Reconfigurable Robots},
      publisher = {Springer},
      address = {New York},
      year = {2009},
      url = {http://www.springer.com/cda/content/document/cda_downloaddocument/9780387758886-c2.pdf?SGWID=0-0-45-621405-p173779107}
    }
  • [2008,inbook] bibtex
    J. Sastra, S. Chitta, and M. Yim, "Experimental Robotics." Springer, 2008, pp. 421-430.
    @inbook{JS:SC:MY:09:book, Abstract = {Reconfigurable modular robots use different gaits and configurations to perform various tasks. A rolling gait is the fastest currently implemented gait available to a modular robot for traversal of level ground. In this work, we analyze and implement a sensor-based feedback controller to achieve dynamic rolling for a 10 module loop robot. The controller exploits the dynamics of the system to build up momentum in each step by specifying a desired global shape for the robot at touchdown. Energy is input into the system both by raising the height of the center of mass of the robot and moving the position of center of mass with respect to the ground to maximize the moment arm due to gravity. Using simulation and experimental results, we show how the desired shape can be varied to achieve higher terminal velocities. Through simulation, we also show rounder shapes have lower specific resistance and are thus more efficient. },
      Author = {Jimmy Sastra and Sachin Chitta and Mark Yim},
      Date-Added = {2009-07-13 15:10:25 -0400},
      Date-Modified = {2009-07-13 15:10:25 -0400},
      Title = {Experimental Robotics},
      M3 = {10.1007/978-3-540-77457-0{\_}39},
      Pages = {421--430},
      Chapter = {Dynamic Rolling for a Modular Loop Robot},
      Series = {Sprinter Tracts in Advanced Robotics},
      Publisher = {Springer},
      Ty = {CHAPTER},
      Year = {2008},
      Bdsk-Url-1 = {http://dx.doi.org/10.1007/978-3-540-77457-0_39}
    }

Conference Articles:

  • [2012,inproceedings] bibtex Go to document
    J. Sastra, S. Revzen, and M. Yim, "Softer legs allow a modular hexapod to run faster," in Climbing and Walking Robots (CLAWAR), 2012.
    @inproceedings{JS:SR:MY, title = {Softer legs allow a modular hexapod to run faster},
      author = {Jimmy Sastra and Shai Revzen and Mark Yim},
      booktitle = {Climbing and Walking Robots (CLAWAR)},
      year = {2012},
      url = {http://jimmysastra.com/wp-content/uploads/publications/modularHexapod.pdf}
    }
  • [2012,inproceedings] bibtex Go to document
    J. Davey, J. Sastra, M. Piccoli, and M. Yim, "ModLock: A Manual Connector for Reconfigurable Modular Robots," in Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 2012.
    @inproceedings{JD:JS:MP:MY, title={ModLock: A Manual Connector for Reconfigurable Modular Robots},
      author = {Jay Davey and Jimmy Sastra and Matthew Piccoli and Mark Yim},
      booktitle = {Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
      address = {Vilamoura, Portugal},
      year = {2012},
      url = {http://jimmysastra.com/wp-content/uploads/publications/modLock.pdf}
    }
  • [2011,inproceedings] bibtex Go to document
    M. Yim, J. Sastra, and S. Kim, "The Robot Etudes," in IEEE Intl. Conf. on Robotics and Automation ICRA Workshop on Robots and Art, 2011.
    @inproceedings{MY:JS:SK:11,
      author = {Mark Yim and Jimmy Sastra and Simon Kim},
      title = {The Robot Etudes},
      booktitle = {IEEE Intl. Conf. on Robotics and Automation ICRA Workshop on Robots and Art},
      year = {2011},
      url = {http://jimmysastra.com/wp-content/uploads/publications/robot_etudes.pdf}
    }
  • [2008,inproceedings] bibtex
    J. Sastra, W. Bernal-Heredia, J. Clark, and M. Yim, "A Biologically-inspired Dynamic Legged Locomotion with a Modular Reconfigurable Robot," in Proc. of DSCC ASME Dynamic Systems and Control Conference, Ann Arbor, Michigan, USA, 2008.
    @inproceedings{JS:WB:JC:MY:08, title = {A Biologically-inspired Dynamic Legged Locomotion with a Modular Reconfigurable Robot},
      author = {Jimmy Sastra and Willy Bernal-Heredia and Jonathan Clark and Mark Yim},
      booktitle = {Proc. of DSCC ASME Dynamic Systems and Control Conference},
      address = {Ann Arbor, Michigan, USA},
      month = {October},
      year = {2008},
      doi = {10.1115/DSCC2008-2402}
    }
  • [2007,inproceedings] bibtex Go to document
    B. Shirmohammadi, C. J. Taylor, M. Yim, J. Sastra, and M. Park, "Using Smart Cameras to Localize Self-Assembling Modular Robots," in Proc. of ACM/IEEE International Conference on Distributed Smart Cameras, Vienna, Austria, 2007.
    @inproceedings{BS:CT:MY:JS:MP:07, title = {Using Smart Cameras to Localize Self-Assembling Modular Robots},
      author = {Babak Shirmohammadi and C.J. Taylor and Mark Yim and Jimmy Sastra and Michael Park},
      booktitle = {Proc. of ACM/IEEE International Conference on Distributed Smart Cameras},
      address = {Vienna, Austria},
      month = {September},
      year = {2007},
      url = {http://repository.upenn.edu/cgi/viewcontent.cgi?article=1411&context=cis_papers}
    }
  • [2007,inproceedings] bibtex Go to document
    M. Yim, B. Shirmohammadi, J. Sastra, M. Park, M. Dugan, and C. J. Taylor, "Towards Robotic Self-reassembly After Explosion," in P IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, 2007, pp. 2767-2772.
    @inproceedings{MY:BS:JS:07, address = {San Diego, CA},
      author = {Mark Yim and Babak Shirmohammadi and Jimmy Sastra and Michael Park and Michael Dugan and C.J. Taylor},
      title = {Towards Robotic Self-reassembly After Explosion},
      booktitle = {P IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
      month = {October 29-November 2},
      year = {2007},
      pages = {2767-2772},
      url = {http://jimmysastra.com/wp-content/uploads/publications/sae.pdf}
    }
  • [2006,inproceedings] bibtex
    J. Sastra, S. Chitta, and M. Yim, "Dynamic Rolling for a Modular Loop Robot," in Proc. of International Symposium on Experimental Robotics, Rio de Janeiro, Brazil, 2006, pp. 421-430.
    @inproceedings{JS:SC:MY:06, address = {Rio de Janeiro, Brazil},
      author = {Jimmy Sastra and Sachin Chitta and Mark Yim},
      title = {Dynamic Rolling for a Modular Loop Robot},
      booktitle = {Proc. of International Symposium on Experimental Robotics},
      year = {2006},
      pages = {421-430}
    }