Robotics Institute: ACE

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Autonomous Mobile Assembly (ACE)
Heads: Sanjiv Singh and Reid Simmons
Contact: Sanjiv Singh (ssingh@ri.cmu.edu)

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

Associated center: FRC

For more information, see this project's homepage.

This page last updated - January 1999.

Jump to: Project Description | Personnel

Project Description

The ACE project is concerned with autonomous mobile assembly. A mobile manipulator is assigned to acquire a piece and insert it in a predefined spot. The piece and target slot are not accurately localized ahead of time, so online visual tracking and servoing are necessary. The mobile manipulation control must be accurate and precise enough to insert a piece when the slot has less than 2 cm room for error. The system is entirely autonomous, which requires robust error recovery.

Personnel

Name - Title <Email Address>

Bradley Hamner - Research Programmer <bhamner@andrew.cmu.edu>
Frederik Heger - PhD Student, RI <fwh@andrew.cmu.edu>
Seth C Koterba - Research Engineer <skoterba@cs.cmu.edu>
Nicholas Melchior - PhD Student, RI <nmelchio@andrew.cmu.edu>
[Home] Reid Simmons - Research Prof/Assoc Dir Educ/PhD Chair <reids@cs.cmu.edu>
[Home] Sanjiv Singh - Associate Research Professor <ssingh@ri.cmu.edu>

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