- Support for Kinect skeletons (Serene Han): Extend Tekkotsu's Kinect
support to include the OpenNI skeleton tracking facility.
- Mirage support for Kinect (Mark Perez): Add depth
imaging to the Mirage simulator so we can better simulate the
- Face tracker (Andrew Sheng): Port the OpenCV face
tracker to Tekkotsu and integrate it with the Lookout and
- Accessibility (Bruce Hill and James Criscuolo):
Develop enhancements to Tekkotsu to make it more usable by persons
with disabilities, such as color blindness, low vision, or hearing
- Voice input (David Hamilton, Songdet
Nillasithanukroh, and Jinxue Zhou): Provide voice input to Tekkotsu using an
Android phone and Google's speech-to-text service, so the robot can
respond to commands such as "move forward".
- Verbal instruction (Chase Brownell, Samuel Russell, and
Kelsey Lee): Develop a language-based interface to the robot so
humans can refer to things the robot perceives, shift its focus of
attention, and command it to pick up objects.
- Object recognition (Elmer Garduno and Apoorv
Khandelwal): Either port the SURF algorithm to Tekkotsu, or fix up
the existing SIFT code and get it working reliably.
- Task planning (Andrew Bauer): Implement a
combinatorial task, such as duplicating a pattern of objects, using
Tekkotsu's interface to the FF task planner.
Additional Ideas for Next Year:
Students are also welcome to propose their own ideas for projects, but
the must make a convincing argument that the idea is achievable in
the time allotted.
- Grasper enhancement: Extend the Grasper to support the
Calliope5KP's 5-dof arm. Currently the Grasper only supports simpler
arms and just a few types of actions. Additional actions might
include stacking blocks, or arranging blocks into specific
- Calliope face: Construct a "face" for the Calliope robot
using microservos to actuate lips, eyebrows, and/or ears, and LEDs to
provide additional features.
- Robot cooperation: Develop a Mirage simulation in which two
robots cooperate to perform a task.