Carnegie Mellon University
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Matthew T. Mason
Professor, RI/CS
Email:
Office: NSH A521
Phone: (412) 268-8804
Fax: 412-268-6436
  Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213


For appointments, please contact:
Jean Harpley, (412) 268 3802, NSH 4303 (jean@cs.cmu.edu)

Administrative Assistant: Jean Harpley
Affiliated Center(s):
 Center for the Foundations of Robotics (CFR)
Personal Homepage

Current Projects [Past Projects]
 
Extrinsic Dexterity
"Extrinsic Dexterity" is a way to get dexterous manipulation with a very simple hand, by coordinating finger motion with arm motion. The more common approach is to depend entirely on the fingers of the hand, which requires at least three fingers and at least nine motors. We have demonstrated Extrinsic Dexterity using the single motor of the MLab Hand, coordinated with the motions of the arm.
Fine Motion Planning for Assembly
Harnessing Human Manipulation
Simple Hands
Designing simple grippers for autonomous general purpose manipulation.