Uncategorized

Jing Cheng and Jiayu Ding from the DLAR Lab participated in the 20th Annual Dynamic Walking Conference held from May 27–30, 2024 in Pensacola, Florida. This interdisciplinary event brought together experts in biomechanics, robotics, and locomotion to discuss advancements in legged systems. The conference featured presentations on energetics, stability, control, and dynamic modeling, as well as hands-on demonstrations of cutting-edge robotic platforms .​ Their attendance at this prestigious conference underscores the DLAR Lab’s commitment to staying at the forefront of research in dynamic locomotion and robotics.

All four of our graduate students from the DLAR Lab—Jing Cheng, Yasser Alqaham, Jiayu Ding, and Rohit Jakkula—presented their innovative research at the 2025 Research Day, showcasing the cutting-edge work being done in robotics.

We are proud to announce that Jing Cheng earned Second Place (tied) for her presentation on “Harnessing Natural Oscillations for High-Speed, Efficient Asymmetrical Locomotion in Quadrupedal Robots,” advised by Dr. Zhenyu Gan. Jing’s research focuses on improving the efficiency of quadrupedal locomotion through natural oscillations, contributing to high-speed robotic movement.

Yasser Alqaham received an Honorable Mention for his presentation on “16 Ways to Gallop: Energetics and Body Dynamics of High-Speed Quadrupedal Gaits,” also advised by Dr. Zhenyu Gan. Yasser’s work analyzes the energetic efficiency and body dynamics of various galloping gaits for quadrupedal robots.

Congratulations to all of our graduate students for their outstanding presentations and well-deserved recognition!

The DLAR Lab recently participated in a delightful outing with the Form and Function Focus Group, hosted at Professor Linda C. Ivany’s beautiful horse farm. This event offered a unique opportunity for interdisciplinary collaboration, as members from various fields gathered to discuss biomechanics, robotics, and bioinspired systems in a relaxed and engaging setting. The outing not only provided valuable insights but also fostered team building and strengthened connections within the group. We are grateful to Prof. Ivany for her hospitality and for organizing such an enriching experience!

Connor Sumner recently presented his work on the racecar project at the SOURCE Summer Symposium, an event that showcases outstanding undergraduate research. His presentation highlighted innovative approaches in racecar design and engineering, demonstrating the practical applications of his research. The symposium provided a platform for students to share their scholarly and creative projects with the campus community.

Jing Cheng and Yasser Alqaham passed the oral qualifying exams and now they are Ph.D. candidates.

We are thrilled to announce that Jing Cheng, PhD student in the Dynamic Locomotion and Robotics Lab, has been selected as a recipient of the 2025 Outstanding Teaching Assistant Award at Syracuse University. This prestigious honor recognizes teaching assistants who demonstrate exceptional commitment, effectiveness, and impact in supporting student learning.

Jing’s dedication to teaching and mentorship has made a truly distinguished contribution to the academic experience in our department. The Outstanding TA Award is reserved for those in good academic standing who go above and beyond in their instructional roles.

Jing will be recognized at the award ceremony on Thursday, April 24, 4:00-6:30 pm in Schine 304ABC. This event will also honor recipients of the Excellence in Graduate Education Faculty Recognition Award.

On behalf of the entire SU community, congratulations to Jing for this well-deserved recognition and thank you for your invaluable service to students and faculty!

Cherry Kim, Lillian A. McGowen, Stefano T. Ingargiola, and Joseph T. Capra recently presented their final capstone project for Electrolux. Their year-long senior design project focused on selecting and evaluating Automated Guided Vehicles (AGVs) for Electrolux’s factory in Kinston, NC. The primary goal was to streamline and automate the transportation of parts within the facility, enhancing manufacturing efficiency.

Throughout the project, the team worked diligently on navigating AGV technology choices, optimizing factory routes, and determining the required number of vehicles based on the factory’s throughput and operational demands. Their final presentation demonstrated their comprehensive approach to the project and the practical solutions they developed to improve Electrolux’s operations.

Dr. Zhenyu Gan recently attended the Foundational Research in Robotics (FRR) Principal Investigator (PI) meeting in Baltimore, Maryland. The event provided an excellent opportunity for networking and collaboration with fellow researchers, sharing insights on the latest advancements in robotics research. Dr. Gan is excited to bring new knowledge and ideas back to the DLAR Lab to further enhance ongoing projects in legged robotics and adaptive control.

The DLAR Lab has submitted a paper titled “16 Ways to Gallop: Energetics and Body Dynamics of High-Speed Quadrupedal Gaits” to IROS 2025. The paper, authored by Yasser G. Alqaham, Jing Cheng, and Zhenyu Gan, systematically analyzes various galloping gaits, focusing on their energetic efficiency and body dynamics. The study investigates different galloping footfall sequences, exploring how the number of flight phases and the phase relationships between the front and rear legs impact energy consumption.

Using the A1 quadrupedal robot, the team employed hybrid dynamics and trajectory optimization to minimize the cost of transport across a range of speeds. The results demonstrate that the number of flight phases significantly influences energy efficiency, with galloping gaits with two flight phases showing the best performance at higher speeds. These findings offer valuable insights for improving the efficiency of quadrupedal robots and advancing high-speed locomotion strategies.

The full paper and more details can be found on our GitHub: https://github.com/DLARlab/16WaystoGallop

The DLAR Lab has submitted a paper titled “Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion” to IROS 2025. The paper, authored by Jiayu Ding, Rohit Jakkula, Tom Xiao, and Zhenyu Gan, introduces a novel modular robotic system that allows for both independent mobility and coordinated locomotion through a hierarchical Central Pattern Generator (CPG) framework. The system’s validation includes both simulations and hardware experiments, showcasing its robust and flexible locomotion capabilities. The work promises significant applications in fields such as search-and-rescue, environmental monitoring, and autonomous exploration.

The full paper and more details can be found on our GitHub: https://github.com/DLARlab/2025_Transformable_Robot