The Robotics Institute

RI | Centers | CFR | Seminar

Foundations of Robotics Seminar, May 3, 2011
Time and Place | Seminar Abstract



This Way Up. Which Way Forward?

Dave Rollinson
Robotics Institute

Carnegie Mellon University

 

Time and Place

Tuesday, May 3, 2011
NSH 3305
Talk 4:30 pm

Abstract

 

Snake robots have the ability to locomote in unique ways, such as through pipes and up the outside of poles. However, the shape changes and interactions that provide these capabilities make analyzing the snake's motion much more complicated than it typically is with other robots. Even defining 'up' for a snake robot can be a non-trivial task.

This talk will summarize the work that has been done on using the v/irtual chassis /to simplify a snake robot's world motion. I will then solicit input on a number of half-baked ideas for future development with the snake robots, including: SLAM using only inertial sensors, generalizing trained or demonstrated motions, master-slave control systems, visual tools and crowd-sourcing for gait development, and adding treads or wheels to the snakes. If any of these ideas sound interesting, stupid, or anywhere in between, please come and provide your input. Or just come for the food, that's cool too.

 

Bio

 

Dave Rollinson is advised by Prof. Howie Choset. He received his M.S. from the Robotics Institute in 2010, and will become a PhD student in the fall. Before coming to the RI, he earned his B.S. in Mechanical Engineering from Carnegie Mellon, and spent 3 years working for RedZone Robotics inspecting large diameter sewers.

 


The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.