Projects
Psychophysics of Haptic Interaction
Quantitative comparisons of human subjects performing peg-in-hole experiments with real, virtual, and real-remote haptic environments
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Teleoperation with a Twelve-DOF Coarse-Fine Manipulator
A six-degree-of-freedom robot arm with six-degree-of-freedom magnetic levitation wrist, controlled in teleoperation
Magnetic Levitation Haptic Consortium
Low-cost, high-fidelity haptic magnetic levitation haptic interface systems for use by a consortium of haptics researchers in the United States
An Architecture for Agile Assembly
A framework that will enable manufacturers to rapidly design, program, and deploy precision automated assembly systems
Free-Roaming Planar Motors
Autonomous planar motors for precision positioning
Robots in Scansorial Environments (RiSE)
Six-legged climbing machines
Dynamically-Stable Mobile Robots in Human Environments
A dynamically stable rollling robot that balances on a single spherical wheel
An Actuator with Mechanically Adjustable Series Compliance
A leg actuator for running featuring mechanically variable stiffness
Past Projects
RHex Robot
Six-legged running machines with recirculating legs
Magnetic Levitation Haptic Interfaces
Six-degree-of-freedom haptic interfaces using Lorentz levitation providing high-fidelity interaction with 3D virtual environments
Controlled Coverage for Auto-Body Painting
Automated trajectory generation for spray painting applications
WYSIWYF Display System
"What You See Is What You Feel" virtual reality interaction system
Vision-Guided Precision Assembly
An eye-in-hand coarse-fine robot system for precision assembly