Our custom hardware platform.
|HERB 2.0||HERB 2.0 is our latest bimanual mobile manipulation platform, with two Barrett WAM arms atop a completely redesigned chassis with a Segway RMP 200 base.||Siddhartha Srinivasa|
|HERB 1.0||HERB 1.0 was our first integrated mobile manipulation platform, with the arm mounted atop the Segway.||Siddhartha Srinivasa|
|Busboy||The Busboy was our first platform for autonomous manipulation, comprised of a Barrett WAM arm bolted to the ground coordinating autonomously with a Segway RMP 200 wandering around serving drinks.||Siddhartha Srinivasa|
We focus on using physics in the design of actions, algorithms, and hands for manipulation.
|Constrained Manipulation Planning||Algorithms for constructing manipulator trajectories in the presence of multiple heterogeneous constraints.||Dmitry Berenson|
|Pre-grasp Manipulation||Incorporating pre-grasp manipulation such as object rotation or sliding improves
the success rate and quality of transport tasks.
Best Manipulation Paper Award Finalist ICRA 2010
|Caging Manipulation||Constrained manipulation with caging grasps significantly increases the range of possible motions of a robot, enabling it to achieve previously infeasible tasks.||Rosen Diankov|
|Push-grasping in Clutter||A new manipulation primitive based on the mechanics of quasi-static pushing,
an efficient algorithm for planning in clutter with the new primitive, and
extensive demonstrations on HERB.
Best Conference Paper Award Finalist IROS 2010
|Trajectory Optimization for Manipulation||Utilizing multiple grasp targets in manipulation problems by extending functional gradient trajectory optimization methods to goal sets.||Anca Dragan|
|Imitation Learning for Grasping||Predict good grasps of novel complex free-form objects by generalizing human demonstrations.||Nathan Ratliff|
|Grasping in Cluttered Environments||Compute grasps for complex objects in cluttered scenes.||Dmitry Berenson|
We focus on formalizing Human-Robot Interaction principles using machine learning, motion planning, and function gradient algorithms. We have been working on enabling seamless and fluent human-robot handovers.
|Human-Robot Handoffs||Learning spatial and temporal cues from human observation for efficient handoffs.||Maya Cakmak|
|Gracefully Mitigating Breakdowns||Expectancy-setting and recovery strategies for robots to mitigate breakdown
Best Conference Paper Award Winner HRI 2010
|Min Kyung Lee|
|People Helping Robots Helping People||Crowdsourcing for grasping novel objects||Alex Sorokin|
Algorithms for turning sensor data into semantic information for manipulation.
|MOPED||A state of the art algorithm for object recognition and registration
from a single image
Best Vision Paper Award Finalist ICRA 2009
|Proprioceptive Localization||Using collision information opportunistically to improve manipulator and robot localization.||Mehmet Dogar|
|GATMO||An algorithm and a software package for tracking people and other movable objects.||Garratt Gallagher|
Collaborative projects with other labs.
|People Prediction||Machine learning techniques for model and compute long-term and short-term trajectories of people.||Drew Bagnell|
|Simple but General Hands||Exploring the fundamental capabilities of simple hand and designing simple hands, along with control and planning techniques, to enable general purpose manipulation.||Matt Mason|
|Model-based Hierarchical Planning||Navigating at high fidelity over long ranges.||Ross Knepper|
|Theatrical Performance||Performing as an actor with a human counterpart.||School of Drama, LTI, and ETC|