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Nonprehensile Mobile Manipulation
We are exploring problems of manipulation, mobility, and cooperation
using mobile robots equipped with simple nonprehensile (nongrasping)
manipulators. A single robot with such a manipulator has limited
manipulation capabilities, but in cooperation with other robots, it
becomes a capable robotic system. |
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Tapping Micropositioning Cell
One strategy for fine positioning is to tap an object, giving it some
initial velocities, and letting it slide until it comes to rest due to
friction. By repeating this process, objects can be positioned very
precisely. We are building a robotic system to take advantage of this
mode of manipulation. |
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Robot Coverage
Many applications require a sensor or actuator to be passed over a
region. Examples include mowing a lawn, spray painting, and search
& rescue. How should a single robot accomplish this task
efficiently? How should multiple robots coordinate? |
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Multiple Robot Coordination
We are investigating the coordination and motion planning of large
numbers of multiple robots. This is computationally hard when
coordinating tens or hundreds or robots. Applications include the
collision-free coordination of manipulators in automotive workcells,
AGVs in factories and at loading docks, and potentially, interactive
graphics characters or digital choreography. |
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Manipulation of Articulated Objects
Manipulating nonrigid objects, such as pizza cartons, is a challenging
problem. We are developing techniques for the robotic manipulation,
motion planning, and design of articulated objects with many degrees
of freedom. The challenge is to enable robots with far fewer degrees
of freedom to manipulate such objects. Potential applications include
carton folding for automated packaging and bulk fabrication of 3D
microelectromechanical systems (MEMS) devices from 2D hinged elements. |
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Parts Feeding
Parts feeding is the process of orienting and transferring parts for
an assembly from their initial random configurations. We use knowledge
of the mechanics and geometry of tasks to automatically generate parts
feeding strategies. |
