Shuang Peng

I'm currently a PhD student advised by Prof. Somil Bansal at SIA Lab, USC.

I'm broadly interested in control and safety ensurace for legged robots. I also enjoy doing hardware stuff, including design and build customized robots from scratch.

Github

shuangpe [at] usc [dot] edu

Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions

Javier Borquez, Shuang Peng, Yiyu Chen, Quan Nguyen, Somil Bansal

RSS, 2024
Webpage • PDF

Self-Reconfigurable Soft-Rigid Mobile Agent With Variable Stiffness and Adaptive Morphology

Luiza Labazanova, Shuang Peng, Liuming Qiu, Hoi-Yin Lee, Thrishantha Nanayakkara, David Navarro-Alarcon

IEEE Robotics and Automation Letters (RA-L), 2023
Webpage • PDF • Video

Origami Inspired Haptic Glove

This project presents the design of an origami-inspired haptic glove, which is able to provide bidirectional feedback force to the user's thumb, index finger, and ring finger. The origami mechanism connected to the user's fingertip can convert the actuator’s torque into a feedback force acting on the user's fingertip.

Info • Video

Quadruped Bai Tiny

An 8DOF torque-controllable quadruped robot with vertical jumping ability. This design includes body mechanics, control electronic, firmware and gait simulation.

Info • Video • Github

Torque Feedback Interface for Virtual Acupuncture Simultaion

Low friction, low inertia, and highly back-drivable torque feedback interface to provide torque feedback. The device is designed as a customized tip for the phantom haptic device, to simulate the acupuncture process where the user inserts and rotates a needle inside patient's tissue.

Info • Github

Quadruped Bai

This project aims to design a high-performance 12dof quadruped and cut the overall build cost by using mostly 3d-printed parts.

Info • Leg Demo • Reducer Demo • Body Assembly

Haptic Hand

A wearable haptic exoskeleton with a parallel 3DOF translate mechanism in order to deliver useable feedback to the user’s fingertip. The glove contains two parts, finger module and fingertip module. Finger module is a 4DOF linkage connects the user’s fingertip and back of the hand, which covers the finger’s workspace. And provides user force feedback. Fingertip module is mounted at the end of finger module, provides limited tactile feedback. A grasp demo developed based on the chai3d framework.

Info • Finger Module Demo • Grasp Demo

Quadruped Bai Servo

A 12DOF servo actuated tiny quadruped for gait tests. With an IMU for pose feedback. Weights only 220g. Powered by external power source.

Video • Github