Planar Testbed Contact Sensors This project is a simple set up consisting of a Flexiforce force sensors from Tekscan, a simple circuit mounted on a breadboard, and ...

Local Repository of Testbed Videos used for Will Macaluso's (M.S. 2012) Thesis A repository of 420 compressed planar testbed videos, used in my thesis located here ...

Roboticists explore fundamental issues of perception, actuation, control, and intelligence, and the couplings among them. Research in the area of perception focuses ...

Natural Image Statistics for Digital Image Forensics Natural images distinguish from the rest of image space with their statistical regularities.Such statistical ...

Instructions for Running the Arm with xPC Target NOTE: These instructions are for running the WAM with the xPC target controller. We have switched to using OWD under ...

Project Areas The projects listed below are of central importance to the research of our lab. However, you may propose a project not listed here, combine parts of ...

Dr. Siwei Lyu received his B.S. degree (Information Science) in 1997 and his M.S. degree (Computer Science) in 2000, both from Peking University, China. He received ...

Kinect Calibration Intrinsic Calibration (Optional, but recommended) Reference link: http://ros.org/wiki/openni launch/Tutorials/IntrinsicCalibration The openni camera ...

Colloquium Speakers 2013 Ayanian Massachusetts Institute of Technology Rubenstein Massachusetts Institute of Technology Hollinger University ...

Office of Co operative Education Robotics Students' Co op Experiences Bryant Pong Anybots Summer 2013 Internship Working with the lead embedded system engineer ...

DARPA Robotics Challenge Introduction The DARPA Robotics Challenge (DRC) is a robotics competition held by DARPA. The primary technical goal is to develop ground ...

KaneHadley 2011 06 23 All the software I used was 32 bit. Microsoft Visual Studio 2008 CMake Python 3.1 1) Download the source code of the tool : http://www.cs ...

dVC3d : an accurate physics engine What new July 2011: dVC3d version 1.1 released! New interface to make it works better with newer Bullet versions. A new ...

dVC2d Installation Guide This guide will step you through the process of installing dVC2d, and its graphical frontend, dvcQt. Install dVC2d in Windows For a fully ...

LiZhang 2010 04 14

Proximal Point Formulation Solver for dVC2D For more information, see MS Thesis, Jeremy Betz JeremyBetz 2011 08 09

ExperimentIO Overview The ExperimentIO Library is a ROS package to make writing ROS nodes that will run individual experiments very simple. It is written to abstract ...

Fixturing Grasping Experiment Setup LiZhang 05 Oct 2009

Comparison of Simulated and Experimental Grasping Actions in the Plane Planar Grasping Testbed Motivated by the possibility of using simulation for prediction ...

GPE Client Overview This package is a utility package for the GPE Client Executor experiment. It aids in communication abstracts communication with the server form ...

The Application of Particle Filtering to Grasping Acquisition with Visual Occlusion and Tactile Sensing Planar Grasping Testbed Why is autonomous grasping ...

Grasp Acquisition Database The Grasp Acquisition Database is designed with the intent of being a flexible collection of data from a variety of different sources. ...

Grasp Database The RPI Robotics Lab has created a Grasp Database for storing and analyzing grasps. Currently the database is still in the development stages. It has ...

Grasping experiments with newly upgraded 7 dof arm Reactive Grasping II: Description: Robot reacting to contact to achieve a successful grasp on a cinder block shaped ...

Graspit Columbia Manual: http://www.cs.columbia.edu/~cmatei/graspit/html manual/graspit manual.html Step by step Graspit Installation Instructions: Graspit Installation ...

Graspit! Installation Graspit! is a powerful grasp planning and analysis tool. It has been recently integrated into ROS and maintained by Willow Garage. The original ...

Harris grasping project aims to develop grasping algorithms that automatically grasp objects in underwater scenarios, mostly for object(s) or object parts that sit ...

Overview of Harris Underwater Grasping Project Robotic grasping is a challenging problem. Performing the grasps underwater with a robotic arm attached to an Autonomous ...

Background: The robotics lab currently has 5 iRobot Create robotic platforms, each with an ASUS Eee PC netbook with integrated webcam used as the control system. The ...

Impedance Control for Barrett WAM in MATLAB Simulink Presentation pdf Building upon the lab's existing Simulink PID controller for the WAM, an impedance controller ...

JeffTrinkle 2009 07 08 Dr. Eric Meisner postdoc at Johns Hopkins in the Medical Robotics Lab Dr. Steve Berard member of technical staff at Lockheed Martin, Burlington ...

JeffTrinkle 01 May 2009 Trinkle Berard Nguyen (Emma) Zhang Le Bang Betz Behmer Li

Awards Events Colloquia #LabAwards Awards March 2009. Eric Meisner , Selma Sabanovic, Volklan Isler, Linnda Caporael, Jeff Trinkle are nominated for best ...

2013 L.E. Zhang, S. Lyu and J.C. Trinkle. A Dynamic Bayesian Approach to Real Time Estimation and Filtering in Grasp Acquisition. IEEE Conference on Robotics and ...

JeffTrinkle 2009 07 29

RPI MATLAB Simulator The RPI MATLAB Simulator (RmS) is tool for research and education in multi body dynamics. RmS is designed and organized to be extended. Its ...

The Robotics Concentration The Department of Computer Science at RPI offers an MS degree with specialization in Robotics. Details about the program requirements ...

2009 Jeremy Betz Fixturing Strategies (completion expected May 2011) John Behmer Nonverbal Human Engagement by a Robot (completion expected May 2011) ...

2009 Steve Berard Title goes here 2009 Nilanjan Different title 2009Eric Meisner HRI title 2009 Jeremy Betz Fixturing Strategies (completion expected ...

Matlab Controller for Barrett WAM We have built off of the Simulink code given to us by University of New Mexico to create joint space and Cartesian space controllers ...

Matlab Motion Capture System In this section, we explain how we access and use data from the tracking system from Matlab. Calls to API From Matlab, we are able to ...

Matlab/Simulink and Barrett WAM Presented at NEMS 2010 pdf The Robotics Department at University of New Mexico (Professor Greg Starr, Matt Courtney) has developed ...

Motion Capture System The RPI CS lab currently is using NaturalPoint's Tracking Tools software package combined with 6 cameras to track rigid bodies and perform grasping ...

Profiling of Gazebo and ODE Use of Profile During dynamic simulation in Gazebo, sometimes the computation time is very slow. Thus we want to know which part of ...

OPEN HAND MODEL T42 6/30/13 LaurieWu 2013 06 12

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#BibAnchorBATjcnd09 @article{BATjcnd09, author {Kishor D. Bhalerao and Kurt S. Anderson and J.C. Trinkle}, title {A Recursive Hybrid Time Stepping Scheme for ...

You will need the Qt Windows source, not the MinGW executable installer. As of January, 2011 it is required to use Qt4. Download the appropriate Qt source Download ...

Introduction Rapid prototyping is the production of an item using an additive manufacturing technology. Where subtractive manufacturing generally takes a large piece ...

Reading Group Presentation Schedule (2013 Spring) Shuai 4/12 Topic: Dynamic Regrasping Using a High speed Multifingered Hand and a High speed Vision System ...

Profiling of Gazebo and ODE G SLAM: The Application of Particle Filtering to Grasping Acquisition with Visual Occlusion and Tactile Sensing Experimental Grasping Test ...

Sources of Error in a Rigid Body Simulation of Rigid parts on a vibrating Rigid plate Trajectory of circle motion Experimental videos (can be seen below ...

Robotics II dVC 2D Homework Assignments Homework files can be submitted to betzj2 AT cs.rpi.edu . Please submit your files in a single archive file, naming it ...

Instructions for Running the WAM with ROS and OWD We have switched controller for the WAM from Matlab/xPC Target to using the Driver in ROS. Before attempting to run ...

KaneHadley 2011 07 12 To checkout a repo from the svn server: 1) Ask the lab's admin group to add you to the group of users that can access the repository. 2) svn ...

Here is the README located in the blend file that will inform any person who decides to continue this work Author: Kane Hadley Date: August 29, 2011 File: shaker ...

KaneHadley 2011 07 12 To checkout a repo from the svn server: 1) Ask the lab's admin group to add you to the group of users that can access the repository. (Kane Hadley ...

Technical Notes Item Lists Notes (Old) Documentation (Doxygen File) dVC2d Installation Guide dVC3D Installation Guide Graspit! Installation Guide ...

TrackingTools The TrackingTools package talks to the Windows machine over VRPN to get the pose of the trackables and the positions of all of the markers. Whenever ...

Uncompressing/Compressing Planar Testbed Videos Testbed videos, if saved as RGB24 .AVI files, can easily be over 1 GB in size each. If you need to save or archive ...

RPI Rules for Undergraduate Research Projects http://undergrad.rpi.edu/update.do?artcenterkey 136 Past Undergraduate Research Projects Hans Vorsteveld 2011 ...

WAM Experiments Overview WAMExperiments is a ROS package that contains programs that implement a given experiment. An experiment is implemented as a ROS node. This ...

WAM Utilities WAMUtilities is a ROS package that contains several utilities that aid in using OWD within ROS. It contains several nodes. All of these nodes are located ...

WSG50 Overview The WSG50 library is independent of ROS, but works seamlessly within an experiment node. It provides the most commonly used functionality for the ...

Grasing Experiment Progress Below is a link to our recent progress with grasping experiments performed on the grasping testbed defined below: Grasping Experiment ...

Year Degree Name First Position 2013 MS Matt Dallas 2013 BS visitor Rohinish Gupta IIT Kanpur 2013 PhD visitor Giuseppe Muscio ...

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Awards May 2013. Li (Emma) Zhang receives the Robert McNaughton Prize in recognition of her outstanding performance as a graduate student in computer science ...

Visit the lab in the Materials Research Center (MRC) for driving to campus Map with the MRC building marked The MRC building is on College Avenue between the Experimental ...

I: CSCI/ECSE 4480II: CSCI/ECSE 6490/4490

Robotics Education RPI Robotics Courses MS with Robotics Concentration Courseware Co op Opportunities LiZhang 14 Oct 2009

Events October 20, 2012: The Lab held an open house for visiting high school students and their families. October 3, 2012: We visited an automated dry cleaning ...

Main Hardware OptiTrack optical tracking system with 9 camera Barrett Technologies 7DOF Whole Arm Manipulator Barrett Technologies BH 8 series Hand ...

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Welcome to RPI's Robotics Lab Roboticists explore fundamental issues ...

Undergraduate Students: To join the Lab, send the following three things to trink at cs.rpi.edu : (1) a short description of what sort of robotics problems interest ...

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April 4, 2009: Robotics Lab openhouse during Accepted Students Day Between 10:30 and 2:00, about 50 accepted students and some of their family members visited the ...

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