Research Projects

Visual Control for Robotics Tasks

Tracking and grasping moving objects

In this scenario, we track the movements of a toy train using stereo cameras and try to pick the train up as it moves along a circular track.

Active Uncalibrated Visual Servoing

We have developed a new set of algorithms that can perform precise alignment and positioning without the need for calibration By extracting control information directly from the image, we free our technique from the errors normally associated with a fixed calibration.

Eye-hand control

In this section, we examine the problem of integrating vision with robotic fingers and hands.

Model-Based Sensor Planning

Machine Vision Planning

In this work, we plan the positions, optical settings, and motions of cameras in order to see the things we want to see.

Dextrous Robotics Hands

Autonomous Precision Manipulation

Haptic Sensing

Object-Space Teleoperation

Human Dexterity and Motor Control

References

This project is working on the problem of building and manipulating CAD models from 3D sensor data.

8-Degree of Freedom Robot