Robotics Engineering

Faculty

J. Xiao, Professor and Department Head; Ph.D., University of Michigan. Robotic manipulation and motion planning, artificial intelligence, haptics, multi-modal perception.
M. Agheli, Assistant Teaching Professor; Ph.D., Worcester Polytechnic Institute (WPI), 2013. Legged Robotics
V. Aloi, Assistant Teaching Professor; Ph.D., University of Tennessee, Knoxville. Robot dynamics, robotic control, and continuum robotics.
N. Bertozzi, Senior Instructor; M. S. Northeastern University. Engineering design graphics, active learning/flipped classrooms, program and course student outcomes assessment.
B. Calli, Assistant Professor; Ph.D., Delft University of Technology, 2015. Robotic manipulation, robot vision, machine learning, dexterous manipulation, environmental robotics.
C. Chamzas, Assistant Professor; Ph.D., William Marsh Rice University, 2023. Integrating learning and planning, planning under uncertainty, motion planning, task and motion planning, visual task planning, human-robot interaction.
L. Fichera, Assistant Professor; Ph.D., University of Genoa/Italian Institute of Technology. Continuum robotics, medical robotics, surgical robotics, image-guided surgery, laser-based surgery, medical devices
G. S. Fischer, Professor; Ph.D., Johns Hopkins University. Medical cyber-physical systems, surgical robotics, image-guided interventions, assistive technology, robot modeling and control, automation, sensors and actuators.
K. Leahy, Assistant Professor; Ph.D., Boston University, 2017. Robotics, formal methods, and multi-agent systems.
G. C. Lewin, Assistant Teaching Professor and Robotics Engineering Associate Head; Ph.D., University of Virginia, 2003. Systems integration, mobile robotics, mechatronics, sensors and control.
Z. Li, Assistant Professor; Ph.D., University of California, Santa Cruz, 2014. Human-robot interaction and interface, human-robot mutual adaptation, remote robot manipulation, nursing assistant robots.
W. R. Michalson, Professor; Ph.D., Worcester Polytechnic Institute. Satellite navigation, real-time embedded computer systems, digital music and audio signal processing, simulation and system modeling.
M. Nemitz, Assistant Professor; Ph.D., The University of Edinburgh. Robotic soft materials, magnetism, fluidics, machine learning.
C. D. Onal, Associate Professor; Ph.D. Carnegie Mellon University, 2009. Soft robotics, printable robotics, origami-inspired robotics, bio-inspiration, control theory, human augmentation.
C. Pinciroli, Associate Professor; Ph.D., Université Libre de Bruxelles, Belgium, 2014. Swarm robotics, multi-agent systems, software engineering, programming languages, human-swarm interaction.
A. Rosendo, Assistant Professor; Ph.D., Osaka University, 2014. Mobile robotics, mechatronics, machine learning.
N. Sanket, Assistant Professor; Ph.D., University of Maryland, College Park, 2021. Robot perception, artificial intelligence, aerial robotics, computer vision, sensor fusion, SWAP-Aware minimalist autonomy.
H. Zhang, Assistant Professor; Ph.D., Johns Hopkins University, 2017. Biomedical robotics, biomedical imaging, ultrasound and photoacoustic instrumentation, functional imaging of brain and cancer, image-guided therapy and intervention.

Associated Faculty

E.O. Agu, Associate Professor; Ph.D., Massachusetts, 2001. Computer graphics, wireless networking, mobile computing and mobile health.
S. Barton, Associate Professor; Ph.D. University of Virginia, 2012. Human-robot interaction in music composition and performance, design of robotic musical instruments, music perception and cognition, audio production.
C. A. Brown, Professor; Ph.D., University of Vermont, 1983. Surface metrology, machining, grinding, mechanics of skiing, axiomatic design.
S. Farzan, Associate Professor, Ph.D., Georgia Institute of Technology, 2021. Safety-critical motion planning and control of cyber-physical systems.
C. Furlong, Professor; Ph.D., Worcester Polytechnic Institute. MEMS and MOEMS, micro-/nano-technology & -fabrication, mechatronics, laser metrology & applications, holographic and ultrasonic imaging and NDT, computer modeling of dynamic systems, acoustics.
G.R. Gaudette, William Smith Dean’s Professor of BME; Ph.D. SUNY Stony Brook; Cardiac biomechanics, myocardial regeneration, biomaterial scaffolds, tissue engineering, stem cell applications, optical imaging techniques, cellular agriculture, crossing biological kingdoms.
X. Huang, Professor; Ph.D., Virginia Tech. Reconfigurable computing, VLSI integrated circuits, networked embedded systems
D. Korkin, Associate Professor; PhD., University of Illinois, Chicago, IL 2014. Data mining, social networks, machine learning, big data analytics.
Y.S. Liu, Assistant Professor; Ph.D. University of Maryland, 2011. Fiber optical tweezers, silicon nanophotonics and nanomechanics, optofluidics, fiber optic sensors, cell mechanics, biomimetics.
P. Radhakrishnan, Assistant Teaching Professor; PhD., The University of Texas at Austin, 2014. Automated design and manufacturing; entertainment and medical engineering; optimization, machine learning and software development; kinematics, dynamics and design education.
C. L. Sidner, Research Professor; Ph.D., Massachusetts Institute of Technology, 1979. Discourse processing, collaboration, human-robot interaction, intelligent user interfaces, natural language processing, artificial intelligence.
J.Skorinko, Professor; Ph.D. University of Virginia, 2007. Social psychology, decision-making, interpersonal interactions.
E. Solovey, Assistant Professor; Ph.D., Tufts University, 2012. Human-computer interaction, user interface design, novel interaction modalities, human-autonomy collaboration, machine learning.
A. M. Wyglinski, Professor; Ph.D., McGill University. Wireless communication systems engineering, vehicular technology, cognitive radio, software-defined radio, autonomous vehicles, wireless spectrum, vehicular security, cyber-physical systems.
Z. Zhang, Assistant Professor; Ph.D., Oxford Brookes University, 2013. Computer vision and machine learning, object recognition/detection, data-efficient learning, with applications; deep learning, optimization.
Y. Zheng, Assistant Professor; PhD., University of Michigan, 2016. Advanced and biomedical manufacturing, medical device design, tissue mechanics, biomedical machining process and modeling, catheter-based surgical devices, medical simulation, vascular ultrasound imaging, abrasive machining processes for biomedical and ceramic materials.

Program of Study

M.S. Program

The Robotics Engineering Department offers the M.S. degree with thesis and non-thesis (coursework only) options. The department strives to educate students to:

• Have a solid understanding of the fundamentals of Robotics Science, Engineering, and Systems.
• Have an awareness of the management and systems contexts within which robotic systems are engineered.
• Develop advanced knowledge in selected areas of robotics, culminating in a capstone research or design experience.

Admission Requirements

Students will be eligible for admission to the program if they have earned an undergraduate degree in Computer Engineering, Computer Science, Electrical Engineering, Mechanical Engineering or a related field from an accredited university consistent with the WPI graduate catalog. Admission will also be open to qualified WPI students who opt for a five-year Bachelors-Masters program, with the undergraduate major in Computer Science, Electrical & Computer Engineering, Mechanical Engineering, Robotics Engineering or a related field. Admission decisions will be made by the Robotics Engineering Graduate Program Committee based on all of the factors presented in the application.

Robotics Engineering Laboratories

Adaptive and Intelligent Robotics (AIR) Lab

Professor Jing Xiao

The AIR Lab is located at 301 (3rd floor) of 85 Prescott Street. Research at the AIR Lab is focused on robotic systems that can best adapt to unknowns, uncertainties, and changes in the working environments, through real-time perception, planning, learning, and execution in seamless synergy. Interested areas include robotic assembly, manipulation, and navigation in human-centered environments, with different kinds of manipulators, from articulated to continuum/soft robots, and in a wide range of applications, including assembly, additive manufacturing, material handling, maintenance and repair, medical and healthcare, manufacturing, and services. Further information is available at https://wp.wpi.edu/airlab/home/

Automation and lnterventional Medicine (AIM) Lab

Professor Gregory Fischer

The Automation and lnterventional Medicine Laboratory Robotics Research Laboratory (AIM Lab) is located at Gateway Park. The primary focus of projects in the AIM Lab is medical robotics including: robotic surgery, image-guided surgery, MRI-compatible mechatronics, rehabilitation robotics, socially assistive robotics, and biofabrication. The lab contains student workstations, equipment for mechanical and electrical design, construction, configuration, and testing of robots, control systems, and automated test fixtures, including state-of-the-art electronics testing and micro-electronics assembly equipment and supplies. An optical tracker is available for motion capture. The lab houses MRI robot controllers developed in the AIM Lab and custom control electronics for high precision control of piezoelectric motor drive waveforms and corresponding robotic system testbeds. A da Vinci Research Kit (dVRK) surgical robot is also available in the lab which includes the Intuitive Surgical robot with custom open control systems. Access to medical imaging in a clinical site is available through collaboration with the nearby UMass Medical School and with the Brigham and Women's Hospital. The research in the AIM Lab is directed by Prof. G. Fischer. Further information can be found at http://aimlab.wpi.edu/.
 

Cognitive Medical Technology (COMET) and Robotics Laboratory

Professor Loris Fichera

Research in the COMET Laboratory focuses on the development of smart medical devices and robots. Specific focus areas include autonomous and semi-autonomous surgical robotics, continuum (continuously flexible) surgical instruments and image-guided surgery. The lab features state-of-the-art experimental equipment, including two surgical laser systems (10,600 and 532 nm), an NDI Aurora electromagnetic tracker, a FLIR A655sc thermal camera and a Franka Emika 7-DoF Panda manipulator. The lab has research collaborations with clinical partners at Brigham and Women's Hospital (Boston, MA), Vanderbilt University Medical Center (Nashville, TN) and the Children's National Hospital (Washington, D.C.). The lab is located in room 4832 at 50 Prescott St. and is directed by Prof. L. Fichera. Further information is available at https://comet-lab.github.io/

Human-inspired Robotics (HIRO) Lab

Professor Zhi Li

Research at the HiRo Lab aims to develop shared autonomous human-robot interfaces to enable humans to effectively control and supervise remote robot manipulation, with a focus on the applications of nursing, living and manufacturing assistance robots. We are interested in shared autonomous robot manipulation control, adaptive human-robot interaction and interfaces, and augmented reality and multimodal human-robot communication. We also develop novel approaches for developing the knowledge and skills of the nursing workforce to control and collaborate robots in patient care.  We collaborate with experts in social science, nursing practice and education to advance nursing robot technologies and mitigate technology barriers and bias for users of diverse age and gender. Further information is available at https://labs.wpi.edu/hiro/

Manipulation and Environmental Robotics (MER) Lab

Professor Berk Calli

The Manipulation and Environmental Robotics Lab primarily focuses on enhancing manipulation capabilities of robots. The research integrates visual feedback, advanced control methods, active vision framework, machine learning algorithms and intelligent mechanical design to achieve robust and dexterous robotic systems. Such systems are essential for executing grasping and manipulation tasks in unstructured environments, including homes, offices, modern warehouses, and collaborative manufacturing stations. One of the main themes of the lab is environmental robotics, i.e. utilizing robots to solve environmental problems such as waste management issues and recycling efficiency. The lab is directed by Prof Berk Calli. Further information is available at https://wp.wpi.edu/merlab/

Medical Frontier Ultrasound Imaging and Robotic Instrumentation (FUSION) Lab

Professor Haichong (Kai) Zhang

Medical FUSION (Frontier Ultrasound Imaging and Robotic Instrumentation) Lab focuses on the interface of medical robotics, sensing, and imaging, and to develop robotic assisted imaging systems as well as image-guided robotic interventional platforms, where ultrasound and photoacoustic (PA) imaging are two key modalities to be investigated and integrated with robotics. The scope of innovation focuses on medical robotics, sensing and imaging for (1) co-robotic imaging, where a robotic component is essential to reduce user-dependency in ultrasound scanning, to build an image with higher resolution and contrast, and to miniaturize and simplify imaging platform and (2) PA-based functional image-guided interventions that give additional information for surgical guidance with high sensitivity and specificity. Further, we will also tackle (3) mathematical and algorithmic challenges behind computer assisted interventions such as hand-eye calibration to support these deployments. The developed systems will synergistically improve both image quality and surgical accuracy and specificity towards diagnostic and interventional applications. https://medicalfusionlab.wordpress.com/

Novel Engineering of Swarm Technologies (NEST) Lab

Professor Carlo Pinciroli

The Novel Engineering for Swarm Technologies (NEST) Laboratory focuses on the design of algorithms and software tools for swarm robotics and multi-agent systems, with applications to disaster recovery, firefighting, and space applications. The lab offers a swarm of 10 Khepera IV robots (along with extension modules such as grippers and LIDARs), 100 Kilobots, and 16 AWS DeepRacers. In addition, the lab has a dedicated experimentation area equipped with a Vicon motion capture system comprising 10 cameras (2.2 Megapixel resolution at 330 frames per second, with varifocal lenses and an IR strobe), a dedicated 1 Gb network connected to a workstation through Vicon Lock+, and the latest version of Vicon image analysis software (Vicon Nexus Standalone, Vicon BodyBuilder, Tracker 3.0 Standalone). Further information is available at https://www.nestlab.net.

Perception and Autonomous Robotics (PeAR)

Professor Nitin Sanket

The Perception and Autonomous Robotics (PeAR) Group works on bio-inspired perception for enhancing robot autonomy at scales not thought possible before. We focus on building task-driven and parsimonious Artificial Intelligence frameworks using onboard sensing and computation. Our work can be categorized into three sub-domains with the common goal of building better autonomy under severe resource constraints (Size, Weight, Area and Power): (1) Active and Interactive Perception (Using action/interaction to gather more information), (2) Novel Perception (inception of new mathematical formulations based on data statistics obtained from various modalities such as uncertainties in optical flow) and (3) Novel Sensing (creating custom sensing mechanisms such as custom apertures to enable better task-driven perception). We develop mathematical tools and deploy them on real robots such as hummingbird-sized aerial robots and smaller ground robots. Further information is available at pear.wpi.edu. 

PracticePoint

Professor Gregory Fischer

PracticePoint is a Massachusetts Technology Collaborative (Mass Tech) supported R&D center that seeks to improve healthcare technologies and develop new medical cyber-physical systems. PracticePoint provides an agile and scalable, collaborative research facility empowering public and private universities, research institutions, industry and innovators to incorporate cyber-physical systems into medical devices and equipment that will improve performance, security, accuracy, timeliness, costs and outcomes in human healthcare. PracticePoint fosters collaborations among its affiliates through state-of-the-art clinical care test beds, secured project pods, collaboration suites and shared tool bays. The point-of-practice environments including: medical imaging coupled with a hybrid operating room suite (including an MRI scanner), a controlled care environment (reconfigurable as ICU, exam room, and recovery room), rehabilitative care suites (including motion capture and rehab equipment), and a residential setting (highly instrumented mock home environment). These point-of-practice care suites are co-located we will have advanced manufacturing (including CNC machining, 3D printing, laser cutting), electronics assembly and test equipment, and build areas. The facility also comprises office spaces for faculty and graduate students, individual research group lab spaces, and reconfigurable "lab pods." Further information can be found at http://practicepoint.org.

Robotic Soft Matter (RSM) Group

Professor Markus Nemitz

The Robotic Soft Matter Group focuses on robotizing soft materials to create programmable matter that can change its shape. By activating otherwise passive materials, we can build robots that can adapt to their environment and serve several purposes at once. Located on the third floor at 85 Prescott, the group addresses the fundamental and technical challenges in the creation, manufacture, and modeling of programmable soft matter. In particular, we investigate shape-changing materials and mechanisms, embedded sensors for shape sensing, and control strategies for shape-changing. The lab collaborates with WPI’s Lab for Education and Application Prototypes (LEAP), accessing 2,000 square feet of cleanroom and laboratory facilities equipped with state-of-the-art equipment including multi-material printers, inkjet printers for the fabrication of stretchable and flexible circuits, submicron assembly and positioning systems, and plasma systems. Prof. Markus Nemitz is the director of the Robotic Soft Matter Group. Open projects and positions can be found at: www.roboticsoftmattergroup.com

WPI Robot Communications and Navigation Laboratory

Professor William Michalson

The Robot Communications and Navigation Laboratory at 85 Prescott Street conducts research into the navigation of and communications with air, land and sea robots in indoor and outdoor locations. The laboratory has platforms for land robots as well as several rotorcraft and sailing platforms and has competed in intelligent ground vehicle and sea vehicle competitions. 

WPI Soft Robotics Laboratory

Professor Cagdas Onal

The Soft Robotics Laboratory is located in HL 127, and supports personnel and equipment required for the design, development, and control of next-generation soft, flexible, and semi-rigid robotic systems. Projects in the lab include studying and developing soft robotic snakes, octopus arms, origami-inspired hexapods, tentacles, flying robots, wearable haptic interfaces, human-robot interaction, and multi-robot systems.

Equipment in the Soft Robotics lab includes tools for design, fabrication, experimentation, and analysis, including an Epilog Zing 24 CO2 laser cutter, a dual nozzle 3D printer, a motion capture area, various semi-rigidware packages for mechanical and electronic design, a full custom-made flexible circuit fabrication and assembly equipment suite, a large-workspace optical microscope, an elastomeric fabrication workbench, and various data acquisition and analysis systems. The lab currently supports research activities in elastomeric robotic systems, printed circuit and sensor manufacturing, origami-inspired foldable systems, assistive soft robotic monitoring, bio-inspired stereo vision, and prosthetic robotics. Research in the Soft Robotics Laboratory is directed by Prof Onal. Further information can be found at http://softrobotics.wpi.edu/.