Carnegie Mellon University
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Factory Automation
Head: Howie Choset
Contact: Howie Choset
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Ave
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Center for the Foundations of Robotics (CFR)
Overview
We are developing the next generation of mobile robots for operating in the factory environments. These mobile robots can localize without modifying the factory and navigate any path in the factory, with the ability to replan paths to avoid unexpected obstacles. These new capabilities will increase the throughput of the factories, as well as decrease the time required to deploy (and re-deploy) the robots into the factory.

This project is constructing novel modular mobile bases with the ability to interact with the environment, which includes mechanisms to interact with parts for assembly as well as transfer them to and from other robots. To endow the mechanisms with their necessary capabilities, the necessary algorithms are developed and implemented on the mobile bases. These algorithms include control of the wheel base, path planning to direct the robot along desired paths and toward specified goals, localization routines to ensure the robot carries out its tasks, such as path following, and finally inverse kinematics and arm control for the parts tooling mechanisms.