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Desktop Robotics
Head: Matthew Mason

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated lab/group: Manipulation Lab

This page last updated - January 2006.

A desktop robot should be able to perceive the state of a desktop, to navigate the desktop, and manipulate objects commonly found on a desktop.

Our first system is a mobile robot which uses its wheels for manipulation as well as for locomotion. Imagine a small car planting its front wheels on a piece of paper, and using the rear wheels to drive the robot and the paper around. At the same time, if the front wheels are powered, the robot could use them to manipulate the paper.

Name - Title <Email Address>
• [Home] Michael Erdmann - Professor, Computer Science and Robotics, RI/CS <xxx>
• [Home] Matthew Mason - Director, Robotics Institute, RI/CS <matt.mason@cs.cmu.edu>
• [Home] Illah Nourbakhsh - Associate Professor <illah@ri.cmu.edu>

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Bilateral time-scaling for control of task freedoms of a constrained nonholonomic system
  S. Srinivasa, M. Erdmann, and M. Mason
  Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), IEEE, Vol. 3, May, 2003, pp. 3391 - 3396. [Abstract]
  Download: pdf [1050 KB] copyrighted

• Experiments with nonholonomic manipulation
  S. Srinivasa, C. Baker, E. Sacks, G. Reshko, M. Mason, and M. Erdmann
  Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), IEEE, Vol. 2, May, 2002, pp. 2042 - 2047. [Abstract]
  Download: pdf [1264 KB] copyrighted

• Extremal Trajectories for Bounded Velocity Mobile Robots
  D. Balkcom and M. Mason
  ICRA, May, 2002. [Abstract]

• Progress in Desktop Robotics
  D. Balkcom and M. Mason
  The Eleventh Yale Workshop on Adaptive and Learning Systems, 2001. [Abstract]