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 & Post Docs
  • Howie Choset, Director, choset@cs.cmu.edu
  • Peggy Martin, Secretary, pm1e@andrew.cmu.edu
  • H. Benjamin Brown, hbb@cs.cmu.edu
  • Jason Geist, jgeist@andrew.cmu.edu
  • Michael Schwerin, mbs2@andrew.cmu.edu
Ph.D. Students
  • Amir Degani, "Dynamic Climbing Robot - Modeling and Analysis" To be completed Dec 2010 (Co-advised with Matt Mason)
  • Ross L. Hatton, "Gait Generation for Locomoting Systems", To be complete 2011.
  • Laura Lindzey, To be determined
  • Matthew Tesch, To be determined
  • Stephen Tully, "Distributed Localization," To be completed May 2011
Alumni Ph.D. Students
  • David Conner, "Integrating Planning and Control for Constrained Dynamical Systems,"  Completed Dec 2007 (Co-advised with Alfred Rizzi)
  • Sarjoun Skaff, Ph. D., "Context-based State Estimation for Hybrid Systems with Intermittent Dynamics," Completed Dec 2006 (Co-advised with Alfred A. Rizzi)
  • Elie Shammas, Ph. D., "Generalized Motion Planning for Underactuated Mechanical Systems," Completed Mar 2006
  • Prasad Atkar, Ph. D., "Constrained Controlled Coverage of Surfaces Embedded in Three Dimensions," Completed June 2005, (Co-advisor Al Rizzi)
  • Robert Grabowski, Ph. D., "Distributed Mapping with Imperfect Robots," Completed Aug 2004 (Co-advised with Pradeep Khosla)
  • Yangang Zhang, Ph. D., "Probabilistic Coverage for De-mining," Completed May 2003 (Co-advised with Mark Schervish)
  • Ji Yeong Lee, Ph. D., "Motion Planning for a Rod Robot," Completed Aug 2003
  • Ercan Acar, Ph. D., "Coverage Path Planning," Completed May 2002
Master's Student
  • 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
  • Kartik Subramanian, "Test Low-level Software for Enhanced Servos," To be completed Dec 2006.
  • Aaron Peck, "Motion Planning for Modular Snake Robots," To be completed May 2008.
  • Zackary McCord, "Visualization Software for Snake Robot Control," To be completed May 2010.
  • James Kong, "Low-Level Software Control for Modular Snake Robot," To be completed May 2009.
  • Michael Edelson, "Software for Ship Hull Coverage Planning," To be Completed August 2007.
  • Joseph Rollo, "Path Planning for Ship Hull Coverage," Completed August 2006.
  • Nadir Sidi, "Low-level Software Control for Modular Snake Robots," To be completed May 2011.
  • Rex Lin, "Low-cost Underwater Robot," Completed August 2006.
  • Allison Naaktgeboren, "Software Architecture for Modular Snake Robots," and "Skin Design for Modular Snake Robots," To be completed May 2008.
  • Philip Gianfortoni, "Low-level Software and Hardware for Modular Snake Robots," To be completed May 2009.
  • Isaac Brown, "Mechanical Design and Behaviors for Modular Snake Robots," To be completed May 2008.
  • Kevin Lipkin, "Robust Modular Snake Robot Design and Behavior Control," To be completed May 2008.
  • Aaron Johnson, "Wireless Control for Modular Snake Robots," To be completed May 2008.
  • Kristopher Borer, "Water-resistant Modular Snake Robot and Climbing Snake Robot," Complete May 2006.
  • Cornell Wright, "Enhanced Servo Design and Construction for Modular Snake Robots," To be completed May 2007.
  • 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
  • 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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