8 accepted papers
In many robotic systems, the holding state consumes power, limits operating time, and increases operating costs. Electrostatic clutches have the potential to improve robotic performance by generating holding torques with low power consumption. A key limitation of electrostatic clutches has been thei…
Bladed tools such as jigsaws are common tools for wood workers on job-sites and in workshops, but do not currently have sufficient autonomous hardware or path planning algorithms to enable automation. Here we present a system of an autonomous robot and a path planning algorithm for automating jigsaw…
As artificial intelligence becomes an increasingly prevalent method of enhancing robotic capabilities, it is important to consider effective ways to train these learning pipelines and to leverage human expertise. Working towards these goals, a master-apprentice model is presented and is evaluated du…
Spatial mapping of surface roughness is a critical enabling technology for automating adaptive sanding operations. We leverage GelSight sensors to convert the problem of surface roughness measurement into a vision classification problem. By combining GelSight sensors with Optitrack positioning syste…
We demonstrate a low-cost telerobotic system that leverages commercial virtual reality (VR) technology and integrates it with existing robotics control infrastructure. The system runs on a commercial gaming engine using off-the-shelf VR hardware and can be deployed on multiple network architectures.
Despite the ubiquity of carpentered items, the customization of carpentered items remains labor intensive. The generation of laymen editable templates for carpentry is difficult. Current design tools rely heavily on CNC fabrication, limiting applicability. We develop a template based system for carp…
We present a distributed control strategy for the aggregation of multiple modular robots into one connected structure optimized for use with 3D modular pivoting cube robots such as the 3D M-Blocks [1]. We use the intensity from a light source as input to a decentralized control algorithm that drives…
Linear bladed cutting tools, such as jigsaws and reciprocating saws are vital manufacturing tools for humans. They enable people to cut structures that are much larger than themselves. Robots currently lack a generic path planner for linear bladed cutting tools. We developed a model for bladed tools…