[Prepared July 30, 2015]
ALEXANDER SCHEPELMANN
The Robotics Institute
NSH 4229
Carnegie Mellon University
5000 Forbes Avenue
Pittsburgh, PA, 15213
[email protected]
http://www.andrew.cmu.edu/~aschepel
(216) 392-9189
SUMMARY
I am a PhD candidate in the Robotics Institute at Carnegie Mellon University.
My research interests involve the design, control, and actuation of legged robotic systems for use in
medical rehabilitation, prosthetics, and walking humanoid robots.
I am currently seeking employment opportunities in a robotics related field to pursue after graduation,
especially in the areas of robotic design, control, actuation, computer vision, machine learning, and
numerical optimization.
EDUCATION
Carnegie Mellon University Robotics Institute
Pittsburgh, PA
Ph. D. Candidate in Robotics
May 2016 (Expected)
Advisor: Hartmut Geyer
Thesis Title: Evaluation of Decentralized Reactive Swing-Leg Controllers on Powered Robotic Legs
Case Western Reserve University
Cleveland, OH
Master of Science in Mechanical Engineering
August 2010
Advisor: Roger D. Quinn
Thesis Title: Identification & Segmentation of Lawn Grass Based on Color & Visual Texture Classifiers
Case Western Reserve University
Bachelor of Science in Mechanical Engineering
Cleveland, OH
May 2009
ADDITIONAL CERTIFICATION
NCEES Certification
Engineering Intern
Granted in OH
June 2009
CITIZENSHIP
Germany
United States of America
Alexander Schepelmann
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[Prepared July 30, 2015]
RESEARCH EXPERIENCE
The Robotics Institute
Carnegie Mellon University
Advisor: Hartmut Geyer
Pittsburgh, PA
August 2010 -
Topic: Design and control of an antagonistically actuated robotic leg that matches human performance.
Designed the Robotic Neuromuscular Leg (RNL) test platforms. The robots are dynamically
scaled, half-human sized robotic legs that match the performance of human legs, and serve as
testbeds to evaluate the performance of neuromuscular inspired locomotion controls on robotic
assistive devices and humanoids. The robots can reliably generate human-like leg motions with
high positional accuracy for joint speeds up to 190rpm, approximately 90% of a similarly sized
human's maximum knee joint velocity.
Topic: Compact nonlinear springs with user defined torque-deflection profiles for series elastic actuators.
Created an optimization-based synthesis method for compact nonlinear springs that encode a user
defined torque-deflection profile using elastic elements with arbitrary stiffness profiles. The
validation prototype uses rubber as its elastic element, resulting in a compact design that generates
the desired torque profile. Ongoing work concerns mitigating nonlinear spring hysteresis during
spring downstroke through careful rubber selection and rubber state estimation using observers.
Center for Biologically Inspired Robotics Research
Case Western Reserve University
Advisor: Roger D. Quinn
Cleveland, OH
August 2007 – August 2010
Topic: Real-time drivable terrain identification via HSI color and visual texture.
Created technique to identify drivable terrain in images based on HSI color and visual texture.
Drivable terrain locations were abstracted via custom algorithm to generate LIDAR-type
representation of freespace in an image, which was used by the autonomous lawnmower CWRU
Cutter for reactive obstacle avoidance.
Center for Biologically Inspired Robotics Research/Department of Biology
Case Western Reserve University
Advisors: Roger D. Quinn, Roy E. Ritzmann
Cleveland, OH
January 2009 – May 2009
Topic: Trackball design and prototyping for Blaberus discoidalis locomotion study.
Designed and prototyped novel 3 degree-of-freedom stationary trackball that incorporates
hydrodynamic lubrication principles. The prototype is used by CWRU Department of Biology to
study cockroach locomotion and gait types via high-speed video analysis.
WORK EXPERIENCE
Swagelok Company
Intern: Product Engineering
Solon, OH
May 2007 – August 2007
Topic: Hose fitting redesign, dynamic CAD model generation, and stand-alone part export.
Worked in conjunction with product engineers to redesign FJ series stainless steel hose fittings.
Automated the hose fitting solid modeling process by dynamically generating CAD models with
design tables, and integrated a macro into the company's Solidworks distribution that exports the
generated models as stand-alone parts.
Alexander Schepelmann
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[Prepared July 30, 2015]
TEACHING EXPERIENCE
Carnegie Mellon University
The Robotics Institute
Teaching Assistant: Systems Engineering
Pittsburgh, PA
January 2013 – May 2013
Case Western Reserve University
Department of Electrical Engineering & Computer Science
Instructor: Elementary Computer Programming (Java)
Cleveland, OH
June 2010 – August 2010
Case Western Reserve University
Department of Electrical Engineering & Computer Science
Instructor: Elementary Computer Programming (Java)
Cleveland, OH
June 2009 – August 2009
Case Western Reserve University
Department of Electrical Engineering & Computer Science
Teaching Assistant: Elementary Computer Programming (Java)
Cleveland, OH
August 2006 – May 2010
Total Number of Semesters: 8
PUBLICATIONS
A. Schepelmann, J. Austin, H. Geyer. Evaluation of Decentralized Reactive Swing-Leg Control on a
Powered Robotic Leg. In Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots
and Systems (2015 IEEE/RSJ IROS), Hamburg, Germany, September 2015.
J. Austin, A. Schepelmann, H. Geyer. Control and Evaluation of Series Elastic Actuators with Nonlinear
Rubber Springs. In Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and
Systems (2015 IEEE/RSJ IROS), Hamburg, Germany, September 2015.
A. Schepelmann, K. A. Geberth, H. Geyer. Compact Nonlinear Springs with User Defined TorqueDeflection Profiles for Series Elastic Actuators. In Proceedings of the 2014 IEEE International Conference
on Robotics and Automation (2014 IEEE ICRA), Hong Kong, China, May 2014.
A. Schepelmann, M. D. Taylor, H. Geyer. Development of a Testbed for Robotic Neuromuscular
Controllers. In Proceedings of the 2012 Robotics: Science and Systems Conference (2012 RSS), Sydney,
Australia, July 2012.
A. Schepelmann, R. Hudson, F. Merat, R. D. Quinn. Visual Segmentation of Lawn Grass for a Mobile
Robotic Lawnmower. In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots
and Systems (2010 IEEE/RSJ IROS), Taipei, Taiwan, October 2010.
K. A. Daltorio, A. D. Rolin, J. A. Beno, B. E. Hughes, A. Schepelmann, J. Green, M. S. Branicky, R. D.
Quinn. An Obstacle-Edging Reflex for an Autonomous Lawnmower. In Proceedings of the 2010 IEEE/ION
Position Location and Navigation Symposium (2010 ION/IEEE PLANS), Indian Wells, CA, May 2010.
A. Schepelmann, H. Snow, B. E. Hughes, J. Green, F. Merat, R. D. Quinn. Vision-Based Obstacle
Detection and Avoidance for the CWRU Cutter Autonomous Lawnmower. In Proceedings of the 2009 IEEE
International Conference on Technologies for Practical Robot Applications (2009 IEEE TePRA), Woburn,
MA, November 2009.
Alexander Schepelmann
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[Prepared July 30, 2015]
EXTENDED ABSTRACTS & POSTER PRESENTATIONS
A. Schepelmann, J. Austin, H. Geyer. Transfer and Evaluation of Decentralized Reactive Swing-Leg
Controls for Powered Robotic Legs. 2015 Dynamic Walking Conference (2015 DWC), Columbus, OH,
July 2015.
A. Schepelmann and H. Geyer. A Synthesis Method for Compact Nonlinear Springs with Custom TorqueDeflection Profiles and Bandwidth for Series Elastic Actuators. 2013 Dynamic Walking Conference (2013
DWC), Pittsburgh, PA, June 2013.
A. Schepelmann, R. Desai, H. Geyer. Evaluating a Swing Leg Controller for Autonomous Foot Placement
on Powered, Segmented Robotic Legs. 2013 Innovation in Healthcare Technology Conference (2013
IHTC), Pittsburgh, PA, April 2013.
A. Schepelmann, M. D. Taylor, H. Geyer. Towards a Testbed for Robotic Neuromuscular Controllers.
2012 Dynamic Walking Conference (2012 DWC), Pensacola Beach, FL, May 2012.
INVITED TALKS
Vision-Aided Navigation System for Autonomous Lawnmowing. 2010 Institute of Navigation Global
Navigation Satellite Systems Conference (2010 ION GNSS), Portland, OR, September 2010.
Guidance and Navigation System for an Autonomous Lawnmower: CWRU Cutter. 2009 Institute of
Navigation Global Navigation Satellite Systems Conference (2009 ION GNSS), Savannah, GA, September
2009.
PATENTS
A. Schepelmann, K. A. Daltorio, A. D. Rolin, J. A. Beno, B. E. Hughes, J. Green, M. S. Branicky, R. D.
Quinn, H. Snow, F. Merat, R. Hudson. Visual Segmentation of Lawn Grass. U.S. Patent No. 8,731,295.
Granted: May 2014.
AWARDS
National Science Foundation
Graduate Research Fellowship
University of Southern California
Annenberg Graduate Fellowship
Institute of Navigation Autonomous Lawnmower Competition
1st Place: Dynamic Obstacle Competition
2010 IEEE/ION Position Location and Navigation Symposium (PLANS)
Walter R. Fried Memorial Award for Best Paper at PLANS
Institute of Navigation Autonomous Lawnmower Competition
1st Place: Dynamic Obstacle Competition
CWRU SOURCE Undergraduate Research Symposium & Poster Session
1st Place: Engineering Oral Presentation
Alexander Schepelmann
September 2010 – August 2013
Award Proffered
Dayton, OH
June 2010
May 2010
Dayton, OH
June 2009
Cleveland, OH
May 2009
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AWARDS (CONT’D)
Institute of Navigation Autonomous Lawnmower Competition
3rd Place: Dynamic Obstacle Competition
Dayton, OH
June 2008
MEMBERSHIPS & AFFILIATIONS
IEEE Student Member
February 2014 -
Tau Beta Pi
Inducted: 2008
PROFESSIONAL SERVICE
Peer Reviews
Autonomous Robots, Bioinspiration & Biomimetics, IEEE/RSJ International Conference
on Intelligent Robots and Systems (IEEE/RSJ IROS), Journal of Field Robotics
GRADUATE COURSEWORK
Carnegie Mellon University
Case Western Reserve University
10-701
16-711
16-720
16-745
16-811
16-850
16-899
24-673
BIOL 347
EMAE 477
EMAE 489
EMAE 481
EMAE 541
Machine Learning
Kinematics, Dynamic Systems, and Control
Computer Vision
Dynamic Optimization
Mathematical Fundamentals for Robotics
Systems Engineering
Biomechanics and Motor Control of Legged Locomotion
Soft Robots: Mechanics, Design, and Modeling
Neurobiology of Behavior
Biorobotics Team Research
Robotics I
Advanced Dynamics
Nonlinear Dynamics
TECHNICAL SKILLS
Tools
MATLAB, Simulink, Simulink Real-Time, SimMechanics, xPC Target, LabVIEW,
Solidworks, CadSoft EAGLE, Arduino, Mathematica, Repetier, LaTeX
Languages
MATLAB, Java, C/C++, G-code, HTML
Additional
Additive manufacturing
Stratasys Objet
3DSystems Cubify
Printrbot Simple
Rubber casting
Subtractive manufacturing
Haas Automation CNC
Inventables Shapeoko CNC
Epilog Laser
Manual machining
Alexander Schepelmann
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