Anon Photo

Roger Quinn

Arthur P. Armington Professor of Engineering
Professor, Mechanical and Aerospace Engineering
Director, Biologically Inspired Robotics
Develops neural and mechanical models of animals and uses data to design and control robots and exoskeletons
Office: 889 Glennan
Phone Number: (216) 368-3222
Fax Number: (216) 368-3007

Education

Ph.D., Engineering Science and Mechanics, Virginia Tech, 1985
M.S., Mechanical Engineering, The University of Akron, 1984
B.S., Mechanical Engineering, The University of Akron, 1980

Awards and Recognitions

2019, 1st place, Annual ION Autonomous Snow Plow Competition, Toronto, Canada, January 2019, Institute on Navigation
2019, Faculty Distinguished Research Award , Case Western Reserve University
2017, 1st place, Annual ION Autonomous Snow Plow Competition, St. Paul, MN, January 2017, Institute on Navigation
2016, 2016 Best Poster Award, Living Machines Conference
2016, 2nd place, Annual ION Autonomous Snow Plow Competition, St. Paul, MN, January 2016, Institute on Navigation

Research Interests

biorobotics: control, mobile robots, autonomous robots, soft robots, flying, walking, crawling, running robots, neural systems, animal locomotion

Teaching Interests

dynamics, vibrations, robotics

Patents Received

2014, "Power assisted orthosis with hip-knee synergy," 14/293,610, Roger Quinn, Ronald Triolo, Rudi Kobetic, Curtis To, Musa Audu, Thomas Bulea, Mark Nandor.
2013, "Biologically inspired gripping device ," 8,500,179, Roger Quinn, Hillel Chiel, Randall Beer, Elizabeth Mangan, Gregory Sutton.
2012, "Apparatus and method for locomotion," Roger Quinn, Hillel Chiel, Alexander Boxerbaum.
2007, "Highly Mobile Robots that Run and Jump," 7,249,640, Roger Quinn, Andrew Horchler, Bram Lambrecht, Jeremy Morrey.
2005, "Vehicle with Compliant Drive Train," 6,964,309, Roger Quinn, Daniel Kingsley, John Offi, Roy Ritzmann.

Patents Pending

2011, "Compliant back brace and ankle orthosis," CWR-019120US, Roger Quinn, Nicole Kern, Richard Bachmann, Arkady Polinkovsky, Ronald Triolo.

Publications

Hnat, S., Audu, M. L., Triolo, R., & Quinn, R. D. (2021). Estimating Center of Mass Kinematics During Perturbed Human Standing Using Accelerometers. Journal of Applied Biomechanics, ().
Sutton, G., Szczecinski, N., Quinn, R. D., & Chiel, H. (2021). Neural control of rhythmic limb motion is shaped by size and speed. , ().
Stark, H., Fischer, M., Hunt, A., Young, F., Quinn, R. D., & Andrada, E. (2020). A three-dimensional musculoskeletal model of the dog. bioRxiv, ().
Moses, K., Willis, M., & Quinn, R. D. (2020). Biomimicry of the Hawk Moth, Manduca sexta (L.), Produces an Improved Flapping-Wing Mechanism. Biomimetics, 5 (2), 25.
Szczecinski, N., Quinn, R. D., & Hunt, A. (2020). Extending the Functional Subnetwork Approach to a Generalized Linear Integrate-and-Fire Neuron Model. Frontiers in Neurorobotics, 14 (), 92.
Goldsmith, C., Szczecinski, N., & Quinn, R. D. (2020). Neurodynamic modeling of the fruit fly Drosophila melanogaster. Bioinspiration \& biomimetics, 15 (6), 065003.
Pickard, S., Quinn, R. D., & Szczecinski, N. (2020). A dynamical model exploring sensory integration in the insect central complex substructures. Bioinspiration \& biomimetics, 15 (2), 026003.
Reyes, R., Kobetic, R., Nandor, M., Audu, M. L., Quinn, R. D., & Triolo, R. (2020). Effect of Joint Friction Compensation on a" Muscle-First" Motor-Assisted Hybrid Neuroprosthesis. Frontiers in Neurorobotics, 14 (), 101.
Kandhari, A., Wang, Y., Chiel, H., Quinn, R. D., & Daltorio, K. A. (2020). An Analysis of Peristaltic Locomotion for Maximizing Velocity or Minimizing Cost of Transport of Earthworm-Like Robots. Soft Robotics, ().
Naris, M., Szczecinski, N., & Quinn, R. D. (2020). A neuromechanical model exploring the role of the common inhibitor motor neuron in insect locomotion. Biological cybernetics, 114 (1), 23--41.
Hilts, W., Szczecinski, N., Quinn, R. D., & Hunt, A. (2019). A Dynamic Neural Network Designed Using Analytical Methods Produces Dynamic Control Properties Similar to an Analogous Classical Controller. IEEE Control Systems Letters, 3 (2), 320-325.
Young, F., Rode, C., Hunt, A., & Quinn, R. D. (2019). Analyzing Moment Arm Profiles in a Full-Muscle Rat Hindlimb Model. Biomimetics, 4 (1), 10.
Deng, K., Szczecinski, N., Arnold, D., Andrada, E., Fischer, M., Quinn, R. D., ... Hunt, A. (2019). Neuromechanical Model of Rat Hindlimb Walking with Two-Layer CPGs. Biomimetics, 4 (1), 21.
Liu, C., Lonsberry, A., Nandor, M., Audu, M. L., Lonsberry, A., & Quinn, R. D. (2019). Implementation of deep deterministic policy gradients for controlling dynamic bipedal walking. Biomimetics, 4 (1), 28.
Kandhari, A., Mehringer, A., Chiel, H., Quinn, R. D., & Daltorio, K. A. (2019). Design and actuation of a fabric-based worm-like robot. Biomimetics, 4 (1), 13.
Naris, M., Szczecinski, N., & Quinn, R. D. (2019). A neuromechanical model exploring the role of the common inhibitor motor neuron in insect locomotion. Biological Cybernetics, (), 1--19.
Kandhari, A., Mehringer, A., Chiel, H., Quinn, R. D., & Daltorio, K. A. (2019). Design and Actuation of a Fabric-Based Worm-Like Robot. Biomimetics, 4 (1), 13.
Szczecinski, N., & Quinn, R. D. (2018). Leg-local neural mechanisms for searching and learning enhance robotic locomotion. Biological Cybernetics, 112 (2-Jan), 99-112.
Kandhari, A., Huang, Y., Daltorio, K., Chiel, H., & Quinn, R. D. (2018). Body stiffness in orthogonal directions oppositely affects worm-like robot turning and straight-line locomotion. Bioinspiration and Biomimetics, 13 (2).
Kandhari, A., Huang, Y., Daltorio, K. A., Chiel, H., & Quinn, R. D. (2018). Body stiffnesses in orthogonal directions oppositely affects worm-like robot turning and straight-line locomotion. Bioinspiration & Biomimetics, 13 (), 026003.
Rubeo, S., Szczecinski, N., & Quinn, R. D. (2018). A Synthetic Nervous System Controls a Simulated Cockroach. Applied Sciences, 8 (1), 6.
Kandhari, A., Huang, Y., Daltorio, K., Chiel, H., & Quinn, R. D. (2018). Body stiffness in orthogonal directions oppositely affects worm-like robot turning and straight-line locomotion. Bioinspiration \& biomimetics, 13 (2), 026003.
Webster-Wood, V., Akkus, O., Gurkan, U., Chiel, H., & Quinn, R. D. (2017). Organismal engineering: Toward a robotic taxonomic key for devices using organic materials . Science Robotics, 2 (12).
Chang, S., Nandor, M., Li, L., Kobetic, R., Foglyano, K., Schnellenberger, J., ... Triolo, R. (2017). A muscle-driven approach to restore stepping with an exoskeleton for individuals with paraplegia. Journal of neuroengineering and rehabilitation, 14 (1), 48.
Szczecinski, N., Hunt, A., & Quinn, R. D. (2017). A Functional Subnetwork Approach to Designing Synthetic Nervous Systems That Control Legged Robot Locomotion. Frontiers in Neurorobotics, 11 ().
Lin, W., Szczecinski, N., & Quinn, R. D. (2017). A neural network with central pattern generators entrained by sensory feedback controls walking of a bipedal model. Bioinspiration and Biomimetics, ().
Moses, K., Michaels, S., Willis, M., & Quinn, R. D. (2017). Artificial Manduca sexta forewings for flapping-wing Micro Aerial Vehicles: How wing structure affects performance. Bioinspiration and Biomimetics, ().
Szczecinski, N., Hunt, A., & Quinn, R. D. (2017). Design methodology for synthetic nervous systems that control legged robot locomotion. Frontiers in Neurorobotics, ().
Szczecinski, N., Hunt, A., & Quinn, R. D. (2017). Design process and tools for dynamic neuromechanical models and robot controllers. Biological Cybernetics, 111 (1), 105–127.
Hunt, A., Szczecinski, N., & Quinn, R. D. (2017). Development and Training of a Neural Controller for Hind Leg Walking in a Dog Robot. Frontiers in Neurorobotics, 11 ().
Szczecinski, N., & Quinn, R. D. (2017). Leg-local neural mechanisms for searching and learning enhance robotic locomotion. Biological Cybernetics, (), 1–14.
Szczecinski, N., Getsy, A., Martin, J., Ritzmann, R., & Quinn, R. D. (2017). Mantisbot is a robotic model of visually guided motion in the praying mantis. Arthropod Structure and Development, ().
Szczecinski, N., & Quinn, R. D. (2017). Template for the neural control of directed stepping generalized to all legs of MantisBot. Bioinspiration and Biomimetics, 12 (4).
Audu, M. L., Kobetic, R., Audu, M., Quinn, R. D., & Triolo, R. (2016). Powered Lower-Limb Exoskeletons to Restore Gait for Individuals with Paraplegia – a Review. Case Orthopedic Journal, 12 (1), 75-80.
Chang, S., Nandor, M., Kobetic, R., Foglyano, K., Quinn, R. D., & Triolo, R. (2016). Improving stand-to-sit maneuver for individuals with spinal cord injury. Journal of neuroengineering and rehabilitation, 13 (1), 27.
Webster, V., Hawley, E., Akkus, O., Chiel, H., & Quinn, R. D. (2016). Effect of actuating cell source on locomotion of organic living machines with electrocompacted collagen skeleton. Bioinspiration and Biomimetics [17483182], 11 (3).
Webster, V., Nieto, S., Grosberg, A., Akkus, O., Chiel, H., & Quinn, R. D. (2016). Simulating muscular thin films using thermal contraction capabilities in finite element analysis tools. Journal of the Mechanical Behavior of Biomedical Materials [17516161], 63 (), 326-336.
Hunt, A., Schmidt, M., Fischer, M., & Quinn, R. D. (2015). A biologically based neural system coordinates the joints and legs of a tetrapod. Bioinspiration & biomimetics, 10 (5), 055004.
Horchler, A., Daltorio, K., Chiel, H., & Quinn, R. D. (2015). Designing responsive pattern generators: stable heteroclinic channel cycles for modeling and control. Bioinspiration & biomimetics, 10 (2), 026001.
Foglyano, K., Kobetic, R., To, C., Bulea, T., Schnellenberger, J., Audu, M. L., ... Triolo, R. (2015). Hip Flexion Power Assist System for Use in Hybrid Neuroprostheses. Applied Bionics and Biomechanics, 205104 (), 1-8.
Foglyano, K., Kobetic, R., To, C., Bulea, T., Schnellenberger, JR, Audu, M., ... Triolo, R. (2015). Feasibility of a Hydraulic Power Assist System for Use in Hybrid Neuroprostheses. APPLIED BIONICS AND BIOMECHANICS, (), 1-8.
Mirletz, B., Bhandal, P., Adams, R., Agogino, A., Quinn, R. D., & SunSpiral, V. (2015). Goal-Directed CPG-Based Control for Tensegrity Spines with Many Degrees of Freedom Traversing Irregular Terrain. Soft Robotics, 2 (4), 165–176.
Daltorio, K., Mirletz, B., Sterenstein, A., Cheng, J., Watson, A., Kesavan, M., ... Quinn, R. D. (2015). How cockroaches exploit tactile boundaries to find new shelters. Bioinspiration & biomimetics, 10 (6), 065002.
Szczecinski, N., Martin, J., Bertsch, D., Ritzmann, R., & Quinn, R. D. (2015). Neuromechanical model of praying mantis explores the role of descending commands in pre-strike pivots. Bioinspiration & biomimetics, 10 (6), 065005.
Horchler, A., Kandhari, A., Daltorio, K., Moses, K., Ryan, J., Stultz, K., ... Quinn, R. D. (2015). Peristaltic Locomotion of a Modular Mesh-Based Worm Robot: Precision, Compliance, and Friction. Soft Robotics, 2 (4), 135–145.
Palmer, L., Diller, E., & Quinn, R. D. (2015). Toward Gravity-Independent Climbing Using a Biologically-Inspired Distributed Inward Gripping Strategy. IEEE Transaction on Mechatronics, ().
Horchler, A., Daltorio, K. A., Chiel, H., & Quinn, R. D. (2015). Designing responsive pattern generators: stable heteroclinic channel cycles for modeling and control. Bioinspiration \& biomimetics, 10 (2), 026001.
Daltorio, K. A., Mirletz, B., Sterenstein, A., Cheng, J., Watson, A., Kesavan, M., ... Quinn, R. D. (2015). How cockroaches exploit tactile boundaries to find new shelters. Bioinspiration \& biomimetics, 10 (6), 065002.
Szczecinski, N., Brown, A., Bender, J., Quinn, R. D., & Ritzmann, R. (2014). A neuromechanical simulation of insect walking and transition to turning of the cockroach Blaberus discoidalis.. Biological cybernetics, 108 (1), 1-21.
Long, Jr, J., Combes, S., Nawroth, J., Hale, M., Lauder, G., Swartz, S., ... Chiel, H. (2014). How Does Soft Robotics Drive Research in Animal Locomotion?. Soft Robotics, 1 (3), 161–168.
Daltorio, K., Boxerbaum, A., Horchler, A., Shaw, K., Chiel, H., & Quinn, R. D. (2013). Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots.. Bioinspiration & biomimetics, 8 (3), 035003.
Daltorio, K. A., Boxerbaum, A., Horchler, A., Shaw, K., Chiel, H., & Quinn, R. D. (2013). Efficient worm-like locomotion: slip and control of soft-bodied peristaltic robots. Bioinspiration \& biomimetics, 8 (3), 035003.
Kern, N., Triolo, R., Kobetic, R., Audu, M. L., & Quinn, R. D. (2013). A convertible spinal orthosis for controlled torso rigidity. Applied Bionics and Biomechanics, 10 (1), 59–73.
Daltorio, K., Tietz, B., Bender, J., Webster, V., Szczecinski, N., Branicky, M. S., ... Quinn, R. D. (2013). A model of exploration and goal-searching in the cockroach, Blaberus discoidalis. Adaptive Behavior, 21 (5), 404–420.
Daltorio, K. A., Tietz, B., Bender, J., Webster, V., Szczecinski, N., Branicky, M. S., ... Quinn, R. D. (2013). A model of exploration and goal-searching in the cockroach, Blaberus discoidalis. Adaptive Behavior, 21 (5), 404--420.
Vaidyanathan, R., Chen, C., Jeong, C., Williams, C., Endo, Y., Ritzmann, R., ... Quinn, R. D. (2012). A reflexive vehicle control architecture based on a neural model of the cockroach escape response. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 226 (5), 699–718.
Boxerbaum, A., Shaw, K., Chiel, H., & Quinn, R. D. (2012). Continuous wave peristaltic motion in a robot. The International Journal of Robotics Research, 31 (3), 302–318.
Boxerbaum, A., Klein, M., Kline, J., Burgess, S., Quinn, R. D., Harkins, R., ... Vaidyanathan, R. (2012). Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility. Journal of Robotics and Mechatronics, 24 (4), 629.
Bender, J., Simpson, E., Tietz, B., Daltorio, K., Quinn, R. D., & Ritzmann, R. (2011). Kinematic and behavioral evidence for a distinction between trotting and ambling gaits in the cockroach Blaberus discoidalis.. The Journal of experimental biology, 214 (Pt 12), 2057-64.
Rutkowski, A., Miller, M., Quinn, R. D., & Willis, M. (2011). Egomotion estimation with optic flow and air velocity sensors.. Biological cybernetics, 104 (6), 351-67.
Bender, J., Simpson, E., Tietz, B., Daltorio, K. A., Quinn, R. D., & Ritzmann, R. (2011). Kinematic and behavioral evidence for a distinction between trotting and ambling gaits in the cockroach Blaberus discoidalis. Journal of Experimental Biology, 214 (12), 2057--2064.
Kern, N., Bachmann, R., Triolo, R., & Quinn, R. D. (2011). Compliant Bodies Provide Increased Agility in Mobile Robots. IEEE/RSJ Conference on Intelligent Robots and Systems, ().
Lewinger, W., & Quinn, R. D. (2011). Neurobiologically-based control system for an adaptively walking hexapod. Industrial Robot: An International Journal, 38 (3), 258–263.
Daltorio, K. A., Wei, T., Horchler, A., Southard, L., Wile, G., Quinn, R. D., ... Ritzmann, R. (2009). Mini-whegs TM climbs steep surfaces using insect-inspired attachment mechanisms. The International Journal of Robotics Research, 28 (2), 285--302.
Gorb, S., Sinha, M., Peressadko, A., Daltorio, K. A., & Quinn, R. D. (2007). Insects did it first: a micropatterned adhesive tape for robotic applications. Bioinspiration \& biomimetics, 2 (4), S117.
Daltorio, K. A., Gorb, S., Peressadko, A., Horchler, A., Wei, T., Ritzmann, R., ... Quinn, R. D. (2007). Microstructured polymer adhesive feet for climbing robots. MRS bulletin, 32 (6), 504--508.
Kandhari, A., Huang, Y., Daltorio, K., Chiel, H., & Quinn, R. D. (). . , ().