Mechanical Engineering /
Robotics Institute Seminar, February 27
Time
and Place | Seminar Abstract | Speaker
Biography | Speaker Appointments
Robots that Climb, Cover, and SLAM:
Topological methods in Robotics
Howie Choset
Robotics Institute
Time and Place |
Scaife
Hall 125
Refreshments 10:00 am
(Scaife Hall 322)
Talk 10:30 am
Starting
with snake robots, we initially explored novel designs for the snake robots we
had developed. Mechanism design by itself was not enough though, so we went on to develop rigorous path planning and control algorithms
based on topological methods to effectively control snake robots. These
topological methods can be generalized to address other problems such as
hierarchical simultaneous localization and mapping and optimal path planning.
We employ the topology of the workspace to divide a problem into simpler,
contractible regions through which we can achieve our task and then develop a
topological map to tie together these regions, thereby composing their tasks.
This philosophy can also be applied to hybrid controls.
Furthermore,
we also use topological approaches to achieve the task of coverage where
looking for landmines is the
motivating application. Again, we achieve coverage by dividing
the free space into regions with simple structure, i.e., those that are trivial
to cover, and then achieve complete coverage by ensuring to visit each
region. We combine this work with basic
principles in differential geometry to lift coverage into three dimensions for
surface body deposition applications such as car painting. In this instance we
have the added challenge of performing optimal coverage, in addition to
complete coverage.
Speaker Biography |
Choset directs the Undergraduate
Robotics Minor at Carnegie Mellon and teaches an overview course on Robotics
which uses series of custom developed Lego Labs to complement the course work.
Professor Choset's students have won best paper
awards at the RIA in 1999 and ICRA in 2003. Finally, Choset is a member of an
urban search and rescue response team using robots with the Center for Robot
Assisted Search and Rescue.
Speaker Appointments |
For appointments, please contact Howie Choset
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.