Ethan J. Musser

Pittsburgh, PA

Welcome to my professional homepage!

I am interested in building robust and efficient robot behaviors in complex, and often hybrid, dynamical systems by leveraging my understanding of dynamics and controls. Beyond a core understanding of your system model and dynamics, frequent hardware testing with adequate data logging is key to success in robotics. In this way, failures become learning experiences that can inform future progress.

I am a Postgraduate Researcher in Kod*Lab, a subsidiary of the UPenn GRASP Laboratory. Currently, I work with Twist — an axially-spined, 13-actuated-degree-of-freedom (3-DOF limbs and 1-DOF spine) quadruped — to explore the improvements an active spine provides in executing dynamic, transitional behaviors. Previously, I was a Research Assistant in the Temple Robotics and Artificial Intelligence Laboratory (TRAIL), where I worked on path planning and control for autonomous ground and aerial vehicles.

Take a look at the Projects page to learn about some of the cool projects I have been working on! Please also check out my LinkedIn and GitHub profiles linked below.

news

Jan 23, 2023	I am starting a new role as an SE1 at Carnegie Robotics where I will be developing cutting-edge hydraulic control systems as a member of the Charge On team.
Jul 15, 2022	The Kod*Lab MJBots SDK is really coming along.
Jul 1, 2022	It's been a great pleasure to co-mentor Kathleen McDermott as she completed the GRASP Laboratory Robotics Art Residency.
May 30, 2022	Our 13-DoF, axially-spined, quadruped Twist is finally standing. Next stop… parkour!
May 16, 2022	I graduated with my Robotics MSE from UPenn. I’m excited to continue applying my ever-growing robotics knowledge in Kod*Lab this summer in my new role as a Postgraduate Researcher!