- Biomimetic Robots:
This research is aimed at developing a new class of biologically inspired
robots that exhibit much greater robustness in performance in unstructured
environments than today's robots. This new class of robots will be
substantially more compliant and stable than current robots, and
will take advantage
of new developments in materials, fabrication technologies, sensors
and actuators. Applications will include autonomous or semi-autonomous
tasks such as reconnaissance and de-mining for small, insect-like robots
and human interaction tasks at a larger scale.
- Low power cutaneous haptic feedback and sensing
for portable, wearable applications.
- Embedded fiber bragg sensors for light-weight, robust and highly
sensitive robotic arms and fingers.
- Tactile Sensing for Exploration and Dexterous
Tactile Sensing and Information Processing for Man and Machine Systems
is a joint project with Professor Gregory
Kovacs of the Center for Integrated Systems (CIS) Transducers
Group at Stanford and with Professors Robert Howe and Roger Brockett
at the Harvard Robotics Laboratory
to investigate mechanisms for acquiring and interpreting information
from tactile sensors for use with robotic and teleoperated hands. For
robotic hands we are also exploring how to program and control hands
that use tactile sensors. For teleoperated hands we are exploring how
best to relay haptic information to human operators. For part of this
work we are collaborating with physiologists from the University of
Umea, Sweden. This project is sponsored by the Perceptual Sciences Division
of the Office of Naval Research.
- Haptic Exploration Stylus
Haptic Exploration Stylus for Telegeology is a joint project with the
Group of the NASA Ames Research
Center to investigate issues surrounding using a needle-like sensor
to make teleoperated and autonomous geological observations. The project
involves developing a stylus sensor to collect haptic information useful
to a telescientist, interpreting the information, storing it, and displaying
the information on a haptic replay device.
- Interview with
Prof. Vermeij. Prof. Vermeij is a blind paleontologist at U.C.
Davis. He describes how he uses haptic feedback for field exploration.
- Haptic Environment Identification
Haptic Environment Identification is joint project with Interval Corporation.
Although friction is becoming increasingly important in manipulation,
the current state of the art in terms of identifying, modeling and displaying
frictional properties through a haptic interface is primitive. We are
therefore undertaking a series of experiments and analyses aimed at
identifying the main frictional properties of small devices and displaying
them through a haptic interface. See publications
by Christopher Richard and his thesis.
- Haptics in Education: The
The haptic paddle is a one degree of freedom force-feedback joystick
that was developed to illustrate principles in an undergraduate mechanical
engineering class (ME161: Dynamic Systems) at Stanford University. The
goal was to create a demonstration tool that would be inexpensive, flexible,
and fun for the students.
- (387K) Telemanipulating a two fingered robot with Virtual Technology's
force-feedback. Forces sensed at the robotic fingers are replayed to
the user through the ungrounded device. Tests were performed, showing
that users could discriminate between objects with less than 0.5 cm
difference in width.
- Two short video clips of event-based manipulation with a two-fingered
- (137K) Responding to an
event in which an object is stripped from the grasp, causing a hard
constraint to be violated and prompting a transition to a new phase
in which the fingers retract.
- (223K) Assembling an object
into a corner. The corner location is unexpectedly moved so that
an object/floor contact occurs before finalassembly. This event
triggers a transition to a sliding phase that brings the object
into the corner.
- Object Proximity Sensing for a Robot Arm
Proximity Sensing for Workstation Assistant Robot is a joint project
with the ProVAR Group at the
VA Rehabilitation Research and
Development Center to design and integrate proximity sensing capabilities
into a workstation assistant robot for quadriplegic individuals. The
goal is to use this sensing system as a safety measure (to prevent robot
collision with the workstation user) as well as a precision guide for
grasping objects. The particular sensor under investigation is the "Capaciflector".
- CCRMA-Related Projects
Other projects associated with the Dextrous Manipulation Lab through
the Center for Computer
Research in Music and Acoustics