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.
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.
Planning for Manipulation
Developing algorithms for autonomous manipulation.
Simple Hands
Designing simple grippers for autonomous general purpose manipulation.