All projects require some amount of literature survey and the writing of a
report. Listed below are just a few ideas. There are many other ideas that
would be suitable. Just check with me before you invest a lot of time.
Hands-on projects involving expensive hardware
- Download GraspIt! and interface with the Barrett arm/hand
interaction in a virtual environment powered by daVinciCode
- Use daVinciCode
to design a grasping strategy and test it with the Barrett arm/hand
Hands-on projects not involving expensive hardware
- Use mobile robot, an Acroname Garcia, for a pushing task. Simulate and compare results.
- Analyze, design, build, and demonstrate
a boomerang (this is a lot easier than it sounds)
Project without an experimental component
- Implement a new feature
(collision response) in daVinciCode and test
various implementations (e.g., Newton’s
and Poisson’s hypothesis).
Use this in the computational study of a manipulation task.
- RRT uniformly covers the
reachable set of statespace for a class of
dynamic systems. Explore the use of RRT for planning dynamic and quasistatic manipulation tasks for a simple planar
hand manipulating a single rigid body.
- Implement Egan’s method
for dealing with vertex/vertex contact. Study the simulation behavior for
one or more manipulation tasks with this feature turned on and turned off.
GraspIt! is available
daVinciCode is available at http://www.cs.rpi.edu/~sberard/dvc/index.html