Biorobotics Lab
Biorobotics Lab
  • Robots
    • Surgical Robots
    • Demining
    • Distributed Manipulation
    • Snake Robots
  • Research
    • Coverage
    • Hybrid Control
    • Locomotion
    • Retracts
    • SLAM
  • Education
    • Introduction to Robots
    • Principles of Robot Motion
    • Robotics Minor
  • Applications
    • Demining
    • LSTAT
    • Painting
    • Search & Rescue
    • Wing Inspection
  • Videos
  • Images
  • Publications
  • People

 

Faculty, Staff and Post Docs
  • Howie Choset, Director, choset@cs.cmu.edu
  • Peggy Martin, Secretary, pm1e@andrew.cmu.edu
  • H. Benjamin Brown, Project Scientist, hbb@cs.cmu.edu
  • Jason Geist, Staff, jgeist@andrew.cmu.edu
  • Michael Schwerin, Staff, mbs2@andrew.cmu.edu
  • Amir Degani, Postdoctoral Fellow, adegani@andrew.cmu.edu
Ph.D. Students
  • Glenn Wagner, Robotics, TBD
  • Clarence Agbi, Electrical and Computer Engineering, TBD
  • Laura Lindzey, Robotics, TBD
  • Matthew Tesch, Robotics, "Learning Locomotion for Snake Robots," To be completed May 2012
  • Ross Hatton, Mechanical Engineering, "Connection Vectorfield Approach to Gait Generation," To be completed May 2011.
  • Stephen Tully, Electrical and Computer Engineering "Distributed Localization," To be completed May 2011
Alumni Ph.D. Students
  • Amir Degani , "Minimalistic Dynamic Climbing" Completed Nov 2010 (Co-advised with Matt Mason)
  • David Conner, Ph. D. in Robotics,, "Controlled Optimal Coverage for Painting Robots,"  Completed Dec 2007 (Co-advised with Alfred Rizzi)
  • Sarjoun Skaff, Ph. D. in Robotics,, "Context-based State Estimation for Hybrid Systems with Intermittent Dynamics," Completed Dec 2006 (Co-advised with Alfred A. Rizzi)
  • Elie Shammas, Ph. D. in Mechanical Engineering, "Generalized Motion Planning for Underactuated Mechanical Systems," Completed Mar 2006
  • Prasad Atkar, Ph. D. in Mechanical Engineering, "Constrained Controlled Coverage of Surfaces Embedded in Three Dimensions," Completed June 2005, (Co-advisor Al Rizzi)
  • Robert Grabowski, Ph. D. in Electrical and Computer Engineering, "Distributed Mapping with Imperfect Robots," Completed Aug 2004 (Co-advised with Pradeep Khosla)
  • Yangang Zhang, Ph. D. in Statistics, "Probabilistic Coverage for De-mining," Completed May 2003 (Co-advised with Mark Schervish)
  • Ji Yeong Lee, Ph. D. in Mechanical Engineering, "Motion Planning for a Rod Robot," Completed Aug 2003
  • Ercan Acar, Ph. D. in Mechanical Engineering, "Coverage Path Planning," Completed May 2002
Master's Student
  • David Rollinson, TBD
  • Nathaniel "Ned" Fox, "Assisting in the Transfer from Wheelchair to Toilet," Completed Dec 2009
  • Deryck Morales, "Exploration and Localization with a Hierarchical Topological Map," Completed May 2006
  • Susmita Dutta, "Generating Edges for the Saturated Generalized Voronoi Diagram," MSRT, Completed May 2006
  • Amir Degani, "Graphical Techniques for Singularity Analysis of Planar Parallel Mechanisms," Completed May 2006 (Co-advised with Alon Wolf)
  • Jason Geist, "Bracing Devices for Snake Robots," Completed May 2006
  • Aaron Greenfield, "Static Analysis with Climbing Snake Robots," Completed Dec 2005
  • Abisheck Sharma, "Visual Exploration," Completed December 2004
  • Nathan Abraham, "Bone Attached Knee Procedures," Completed August 2004. (Co-advised with Alon Wolf)
  • Al Costa, "Bearing-only Localization for De-mining," Completed May 2004
  • Dan O.Halloran, "Mobile Robot Design," Completed Dec., 2003
  • Sujay Bhattacharjee, "Navigation with Feature-based Edge Maps," Completed May 2003
  • Vincent Lee Shue, "Multi-Robot Coverage Algorithms," Completed May 2003
  • Brad Lisien, "Hierarchical Simultaneous Localization and Mapping," Completed May, 2003
  • Benjamin Turk, "Feeder and Design for Snake Robots," Completed May, 2002
  • Ryan Dejonckheere, "Visual Guided Motion Planning for Demining Robots," Completed Dec. 2001
  • Jong Chul Park, "Visual Exploration of Unknown Spaces," Completed Aug. 2001
  • Mark Bedillion, "Distributed Manipulation Using Discrete Actuators," Completed May 2001. (Co-advised with Bill Messner)
  • Elie Shammas, "Design of a Serpentine Mechanism," Completed May 2001
  • Douglas Hull, "Path Planning for Snake Robots," Completed May 2001
  • Sarjoun Skaff, "Wall-following Control Laws for Mobile Robots, and Grasping with Sky Worker" Completed May 2001. (Co-advised with Red Whittaker in RI)
  • Prasad Atkar, "Robotic Car-Painting Path Planning," Completed May 2000
  • Arthur Stan Brigham, "Mechanical Means of Mine Detection," Completed Dec. 1999
  • Kunnayut Eiamsa-Ard, "Incremental Construction of the Generalized Voronoi Diagram," Completed Dec. 1999
Undergraduate Students
  • Colin Haas, "User-interface for Snake Robots," To be Completed May 2012.
  • Alex Klarfeld, "Snake Status and Documentation," to be completed May 2012.
  • Kyle Gee, "End-effector" and "Sheeths for Snake Robots," to be completed May 2012.
  • Alana Yoel, "Sheath Design," and "Gait Programming," to be completed May 2011.
  • Ana Huaman, "Force Data from a Snake Robot," (visiting from Universidad Nacional de Ingenieria ) Completed December 2009.
  • Austin Buchan, "Unified Brake Design," To be Completed May 2010.
  • Siyeun Feng, "Parkour Climing Robot," To be completed May 2010.
  • Ben Morse, "Tail Camera," and "Gait Design," to be completed May 2011.
  • Jame Snow, "Video Tracking of Snake Robot,"(visiting from State University of New York at Potsdam) Completed Aug 2009.
  • Chandrasekhar Bhagavatula, "Architecture for Snake Robots," Completed Aug 2009.
  • Jordan Meenen, "Sheeth Design," and "Snake Repairs," (visiting from MIT), Completed Aug 2009.
  • Katrina Corley, "Test-bed for Pipe Evaluaiton," (visiting from GA Tech), Completed Aug 2009.
  • Zack Morrison, "The Claw," (visiting from Washington University), Completed Aug 2009.
  • Adam Lebovitz, "Contact track profile; griping normal force; vertical climb rate," (visiting from Denison University) Completed Aug 2009.
  • Vikram Sundar, "Snake Robot Support Hardware," ( visiting from Palo Alto High School) Completed Aug 2009.
  • John Howland, "Skins for Snakes," To be completed May 2011.
  • Johnathan Johnson, "Repairs of Older Generation Snakes," and "Gait Design," To be completed May 2011.
  • Frederick Curtis Layton, "Head Design for Modular Snake Robot," "Feasibility of Snake Robots in Pipes," and "Two-way communications," To be completed May 2011.
  • William Sergeant, "Head Design for Modular Snake Robots," and "Software System Architecture for Snake Robots," To be completed May 2011.
  • Siddharth Nangia, "Tail Design," Completed May 2009.
  • Eric Rippey, "Gait Design" and "Snake Repair," To be completed May 2010.
  • Nolan Hergert, "Tether for Snake Robots," Completed Dec 2008.
  • Andrew Fader, "Three-dimensional Visualization and Simulation," Dec 2008.
  • Donald Cober, "Software Infrastructure for Snake Robot," and "Head Circuit Design," Fompleted Sept 2008.
  • Brian Coltin, "Simulator for a Ellipse Path Planner," Completed May 2008.
  • Alex Baran, "Circuit Board Design and Implementation," Completed Aug 2008.
  • Ned Fox, "Crack Climbing Robot," Completed Aug 2008.
  • Shrey Aggerwal, "Tail Design for Modular Snake Robot," Completed May 2008.
  • Mikhail Charkin, "Gait Design for Snake Robots," Completed May 2008.
  • Isaac Brown, "Mechanical Design and Behaviors for Modular Snake Robots," Completed May 2008.
  • Jason Winters, "Educational Robotics with Rex," and "Electronics for Modular Snake Robots," Completed May 2008.
  • Kevin Lipkin, "Robust Modular Snake Robot Design and Behavior Control," Completed May 2008.
  • Aaron Johnson, "Wireless Control for Modular Snake Robots," Completed May 2008.
  • Justine Rembisz, "Manufacturing of Modular Snake Robots," Completed May 2008.
  • William Wong, "Programming Behaviors for Modular Snake Robots," Completed May 2008.
  • William McHenry, "Low-level Control for Modular Snake Robots," Completed May 2008.
  • Aaron Peck, "Motion Planning for Modular Snake Robots," Completed May 2008.
  • Paul Desiderio, "Gaits for a Locomoting Snake," Completed Dec 2007.
  • Kate Killfoile, "Simulator for Surface Coverage," Completed May 2007.
  • Manuel Gozalez-Rivero, ""Integration with Modular Snake Robots," Completed May 2008.
  • Zackary McCord, "Visualization Software for Snake Robot Control,"May 2010.
  • Michael Edelson, "Software for Ship Hull Coverage Planning," August 2007.
  • Philip Gianfortoni, "Low-level Software and Hardware for Modular Snake Robots," May 2007.
  • Allison Naaktgeboren, "Software Architecture for Modular Snake Robots," and "Skin Design for Modular Snake Robots," May 2007.
  • Nadir Sidi, "Low-level Software Control for Modular Snake Robots," To be completed May 2007.
  • Joseph Rollo, "Path Planning for Ship Hull Coverage," Completed August 2006.
  • Rex Lin, "Low-cost Underwater Robot," Completed August 2006.
  • Kartik Subramanian, "Test Low-level Software for Enhanced Servos," To be completed Dec 2006.
  • Cornell Wright, "Enhanced Servo Design and Construction for Modular Snake Robots," To be completed May 2006.
  • Kristopher Borer, "Water-resistant Modular Snake Robot and Climbing Snake Robot," Complete May 2006.
  • Philippe E. Ayoub, "Micro-Modular Snake Robot," Completed May 2005
  • Edward Rankin, "Distributed Coverage with Multiple Robots," Completed May 2005
  • Adam Borrell, "Modular Three-dimensional Snake Robot," and "Surgical Snake Robot Prototype," Completed May 2005
  • Tanna Alford, "Modular Three-dimensional Snake Robot," Completed May 2005
  • Ryan Hoover, "Mini-Bone Attached Robot," (with Alon Wolf) Completed May 2005
  • Bryan Valentini, "Exploration with Natural Landmarks," Completed May 2005
  • Dan Noday, "Implementation of Surgical Snake Robot Prototype," Completed Aug 2004
  • Devin Fell, "Implementation of Surgical Snake Robot Prototype," Completed Aug 2004
  • Terence Keegan, "Search and Rescue Pan-tilt Camera," Completed Aug 2004
  • Josh Levine, "Snake Robots for Search and Rescue," Completed Aug 2004
  • Aubrey Donnellan, "Modular Snake Robot Construction," Completed Aug 2004
  • Dan Horbatt, "Control Circuitry for Modular Snake Robot," Completed Aug 2004
  • Sam Sonne, "Multi-Robot Coverage," Completed Aug 2004 and "Three-dimensional Path Planning," Completed Aug 2004
  • Ivan Jaeger, "Graphics Engine for Three-Dimensional Path Planning," Completed Aug 2004
  • Mathew Brewer, "Visualization and Distance Engine for a Three-Dimensional Path Planner," Completed Aug 2004
  • Binoy Shah, "Urban Search and Rescue Test Arena," and a survey paper on urban search and rescue technology. Complete May 2004
  • Phillip R. Muttukumaru, "Fire-fighting Robot," Completed May 2004
  • Alan Hayashi, "Fire-fighting Robot," Completed May 2004
  • Garrett Jenkinson, "Construction of a Modular Snake Robot," Completed May 2004
  • Jason Geist, "Mobile Base Development for Snake Robot," Completed May, 2004
  • Carolyn Weger, "Stair Climbing Snake Robot," Completed May 2004
  • Andrey Polonsky, "Remote Control for Snake Robot," Completed Dec 2003
  • Jessica Heasley, "Water-resistant Modular Snake Robot," Completed Dec 2003
  • David Gross, "Pan-tilt Camera" and "Four-wheel Drive Mobile Base," Completed Aug 2003
  • Ben Hollis, "Software for Path Planning with the GVG," Completed Aug 2003
  • Umang Kajaria, "Locomotion for Two-Dimensional Modular Snake Robot," Completed May 2003
  • Jonathan Tran, "Locomotion for Two-Dimensional Modular Snake Robot," Completed May 2003
  • Anna Li (Qing Feng), "Graphic User Interface for Three-Dimensional Snake Robot Simulator," Completed Aug 2002
  • Peter Schmidt, "An RF Solution for the Dead Reckoning Problem," Completed May 2002. Won first place in the Sigma Xi Research Competition, Phi Kappa Phi Research Competition, and Judge.s Choice in the Lockeed Martin Eta Kappa Nu Competition
  • David Dolan, "A Controller for a Serpentine Robot," Completed May 2002. Graduated with University Honors
  • James Salvia, "Modular Design of Serpentine Robots and Locomotion," Completed May 2002
  • Eleanor Moore, "Modular Design of Serpentine Robots and Locomotion," Completed May 2002
  • Vincent Lee Shue, "Multi-robot Coverage," Completed Dec 2001
  • Anthony Rowe, "Multiplexed Sonar System for De-mining Robot," Completed Dec 2001
  • Sean Pieper, "Multiplexed Sonar System for De-mining Robot and Navigation Board Design," Completed Dec. 2001
  • Eric Shiesh, "Probabilistic Coverage Techniques for a De-mining Robot," Completed Dec 2001
  • Ryan Dejonckheere, "Inter PIC-Pentium Communications and Visual Localization for a De-mining Robot," Completed Dec 2001
  • Steven Spiecher, "Developmet of a Demining Robot," Completed Aug 2001
  • Thomas Madden, "Serpentine Robot Coordination and Path Planning," Completed May 2001
  • Deryck Morales, "Exploration of Unknown Spaces," Completed May 2001
  • David Lean, "Control and Navigation for a De-mining Robot," Completed Dec 2001
  • Al Costa, "Control and Navigation of a De-mining Robot," Completed Dec 2001
  • Chris White, "Computer Architecture of a De-mining Robot," Completed Dec 2001
  • Renata Melamud, "Mechanical Design for a De-mining Robot," Completed Dec 2000", "Mechanical Design of Modular Snake Robot," Completed Dec 2002
  • David Bender, "Implementing a Follow-the-Leader Approach for Snake Robots," To be completed Dec 2001
  • Amy Graveline, "Sonar Sensing for De-mining Robot," Completed Aug 2000
  • Ashley Gross, "Exploration of Unknown Spaces," Completed Aug 2000
  • Sean Martin, "Exploration of Unknown Three-dimensional Spaces," Completed Aug 2000
  • Mary J. Berna, "Vacuum Cleaning Robot," Completed May 2000
  • Jonathan Mittlefehldt, "Vacuum Cleaning Robot," Completed May 2000
  • Michael Rosenblatt, "De-mining Robot," and "Self-Paced Robotic Education Tools," Completed May 2000
  • Andrea Okerholm, "Computer Control of Demining Robot", " Completed March 2000
  • Maayan Roth, "Path Planning for De-mining Robot," Completed Dec 1999
  • Andrew Alford, "Three-Dimensional Path Planner" and "Mechatronic Mobile Robots," Completed August 1999
  • Sean Walker, "Three-Dimensional Exploration," Completed June 1999
  • Joleen Flasher, "Optimal Motion Planning" and "Space Structure Inspection with Aercam," Completed May 1999
  • Morgan Simmons, "Demining Robot," Completed May 1999
  • Jason Powell, "An Imaging System for Serpentine Robots," Completed May 1999
  • Dean Jackson, "Space Structure Inspection with Aercam," Completed in May 1999
  • Ross A. Knepper, "Sensor Based Exploration with Mobile Robots" and "Space Structure Inspection with Aercam," Completed May 1999
  • Diego Luis Iglesias, "Integrating a Metal Detector onto a Nomad Robot", " Aug 1998
  • Peter Sarkis, "Motion Planning with a Rod," Completed May 1998
  • Luis Quiroga, "Sonar Sensing and Tracking," Completed May 1998
  • Wade Henning, "Motion Planning with Snake Robots," Completed in May 1998
  • Vahe Mamikunian, "Infrared Range Sensor," Completed May 1997
  • Frank Hickman, "Motion Planning in the Plane and Three-dimensions," Completed May 1997
Visitors
  • Sylvain Cardin, cardin@tatric.org
Former Visitors & Post Docs
  • Hyungpil Moon
  • Jason Winters
  • Amir Shapiro
  • Alon Wolf
  • Ionnis Rekleitis
  • Jonathan Luntz
  • Walir Roquet
  • Keiji Nagatani
  • Ilhan Konukseven
Mailing Lists - Click here

 

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