Samuel Zapolsky Ph.D. Homepage
Recent Info
I am currently the Co-founder and Chief Technology Officer at Dextrous Robotics, where I lead a team of highly skilled engineers dedicated to revolutionizing the logistics space through cutting-edge robotics solutions. At Dextrous Robotics, we develop high-performance robotic systems that redefine how we tackle logistics challenges. I guide our team in creating robust software and hardware components for strong, precise, and fast-moving robotic systems set to reshape the logistics landscape. Excited to be at the forefront of this dynamic industry, I thrive on leveraging my skills to drive significant advancements in the field of robotics.
Dextrous Robotics
Transforming Logistics with Advanced Robotics
www.dextrousrobotics.com
At Dextrous Robotics, our unwavering commitment to high-performance execution goes hand in hand with our relentless pursuit of innovation. What sets us apart is our mastery of contact-based bimanual manipulation— an advanced concept in robotics— that propels our robots into a league of their own.
We pride ourselves on being among the world’s leading experts in developing and implementing these sophisticated systems. Our robots move heavy objects at remarkable speeds with unparalleled grace.
Ph.D. research
I earned my Ph. D. while studying robotics in Evan Drumwright’s Positronics Lab at GWU.
My dissertation focused on discovering what circumstances make robots fail and then using simulted tools to modify a robot or its control system to prevent those failures from happening in the future, leading to a better and more robust robots.
Research Overview:
Research at-a-glance
Inverse Dynamics with Contact Force Prediction
Adaptive Integration for Controlling Speed vs. Accuracy in Multi-Rigid Body Simulation
High-level Quadruped Control (Joystick)
Running with a simulated quadruped
Publications and Patents (c. Nov 2023)
Google Scholar
- Zapolsky S, Drumwright E, Havoutis I, Buchli J, Semini C. Inverse dynamics for a quadruped robot locomoting along slippery surfaces. In: Nature-Inspired Mobile Robotics. ; 2013:555-562.
- Zapolsky S, Drumwright E. Quadratic programming-based inverse dynamics control for legged robots with sticking and slipping frictional contacts. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE; 2014:3266-3271.
- Zapolsky S, Drumwright E. Pacer: Modular, real-time software for legged robot planning and control. In: Proc. 11th Annual Conf. on Dynamic Walking. ; 2015.
- Zapolsky S, Drumwright EM. Adaptive integration for controlling speed vs. accuracy in multi-rigid body simulation. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE; 2015:5388-5394.
- Zapolsky S, Drumwright E. Inverse dynamics with rigid contact and friction. Autonomous Robots. 2017;41:831-863.
- Zapolsky S, Drumwright EM. Detecting divergent robot behavior with multi-rigid body simulation and random sampling.
- Zapolsky S, Drumwright E. Particle traces for detecting divergent robot behavior. In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids). IEEE; 2016:1217-1224.
- Shepherd J, Zapolsky S, Drumwright EM. Fast multi-body simulations of robots controlled with error feedback. In: 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR). IEEE; 2016:232-237.
- Zapolsky SR. Simulation Based Fault Detection and Design Modification for Highly Dynamic Robotic Systems. The George Washington University; 2017.
- Canaday B, Zapolsky S, Drumwright E. Interactive, iterative robot design. In: 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE; 2017:1188-1195.
- Fazeli N, Zapolsky S, Drumwright E, Rodriguez A. Learning data-efficient rigid-body contact models: Case study of planar impact. In: Conference on Robot Learning. PMLR; 2017:388-397.
- Fazeli N, Zapolsky S, Drumwright E, Rodriguez A. Fundamental limitations in performance and interpretability of common planar rigid-body contact models. In: Robotics Research: The 18th International Symposium ISRR. Springer International Publishing; 2020:555-571.
- Canaday B, Zapolsky S, Drumwright E. Optimizing robot model parameters for highly dynamic tasks. In: 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR). IEEE; 2018:144-150.
- Zapolsky S, Drumwright E. Environmental modification in autonomous simulation. Published online oct # ‘ 17’, note=US Patent App. 15/950,263 2019.
- Zapolsky S, Ahumada M, Poursohi A. Non-backdrivable passive balancing systems for single-axle dynamically-balanced robotic devices. Published online aug # ‘ 18’, note=US Patent 10,745,071 2020.
- Zapolsky S, O’donnell C, Yao J. Robot systems providing bump detection and robots incorporating the same. Published online aug # ‘ 25’, note=US Patent 10,754,349 2020.
- Zapolsky S. Systems and methods for simulation utilizing a segmentable monolithic mesh. Published online sep # ‘ 14’, note=US Patent 11,119,498 2021.
- Zapolsky S, Drumwright E, Poursohi A. Systems and methods for persistent simulation. Published online feb # ‘ 6’, note=US Patent App. 16/050,406 2020.
- Thackston A, Zapolsky S, Bouma K, Stelzner L, Goldman R. Methods and systems for implementing customized motions based on individual profiles for identified users. Published online mar # ‘ 22’, note=US Patent 11,279,036 2022.
- Thackston A, Zapolsky S, Miller K, Stelzner L, Goldman R. Intent based control of a robotic device. Published online jun # ‘ 7’, note=US Patent 11,351,671 2022.
- Thackston A, Zapolsky S, Miller K, Stelzner L, Goldman R. Selective arrival notification system. Published online jul # ‘ 14’, note=US Patent 10,713,744 2020.
- Zapolsky S, Stone K, Amacker M, Poursohi A. Robots with perception-based fiber-optic tactile sensing and methods for providing the same. Published online dec # ‘ 8’, note=US Patent 10,857,684 2020.
- Thackston A, Zapolsky S, Miller K, Stelzner L, Goldman R. Selective arrival notification system. Published online jun # ‘ 15’, note=US Patent 11,037,264 2021.
- Zapolsky S, Drumwright E. System and/or method for grasping objects. Published online oct # ‘ 19’, note=US Patent App. 18/136,215 2023.
Work history:
Dextrous Robotics
CTO & Co-founder
June 2019 - present
San Francisco Bay Area
Toyota Research Institute
Research Scientist
April 2017 – June 2019
Los Altos, CA
Positronics Lab
George Washington University
Ph.D. Candidate
September 2012 – February 2017
Washington, DC
Advisor: Evan Drumwright
Dynamic Legged Systems Lab
Italian Institute of Technology: Department of Advanced Robotics
Visiting Researcher
July 2012 – Sep 2012
Genoa, Italy
Mentors: Jonas Buchli & Claudio Semini
Email: samzapo[at]gmail.com
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