Carnegie Mellon University
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Center for the Foundations of Robotics (CFR)
Head: Howie Choset
The Robotics Institute
Carnegie Mellon University
5000 Forbes Avenue
Pittsburgh PA 15213-3890
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.
Footstep Planning for Biped Robots
Navigation strategies for bipeds through complex environments, planning for the full capabilities of the biped.
GPU-accelerated Computer Vision
We are exploiting programmable graphics hardware to improve existing vision algorithms and enable novel approaches to robot perception.
Harnessing Human Manipulation
Learning Locomotion
Robust planning and control of the quadruped robot "Little Dog" to traverse rough terrain (DARPA sponsored).
Navigation Among Movable Obstacles
Autonomous motion planning and control for robots working in reconfigurable environments.
Perception for Humanoid Robots
Real-time perception algorithms for autonomous humanoid navigation, manipulation and interaction.
Planning for Manipulation
Developing algorithms for autonomous manipulation.
Precomputed Search Trees: Planning for Interactive Goal-Driven Animation
We present a novel approach for interactively synthesizing motions for characters navigating in complex environments.
Simple Hands
Designing simple grippers for autonomous general purpose manipulation.