1. This web page (http://www.cs.cmu.edu/afs/cs/academic/class/16741-s07/www/index.html)

  2. Here are some titles of recent projects, to give you some ideas of suitable topics:

  3. Here is a proposal I just made up, to give you an idea of expected level of detail and organization:
    Title: Pouring liquids
    Team: Moe, Larry, Curly

    We have seen some videos of robots pouring liquids, but they do not look as good as people pouring liquids, for example:
    • (A video of a human pouring)
    • (A video of a robot pouring)

    It is obvious the person is better, but not obvious exactly why. What is the objective that should be optimized? To explore that, we will devise a very simple two-dimensional simulator that pours liquid from one container into another. The pouring motion will be represented as a path in the container configuration space interpolating through a set of control points. We will formulate several different objective functions, and optimize the choice of control points for each objective, and then compare the outcomes.

    The objectives we will explore are:
    • minimum time to fill the receptacle
    • least spillage within a given time
    • (and some others)