Current
Autonomous Needle Insertion for Vessel A...
The most important component in case of high-tempo, traumatic scenarios on the battlefield is inserting a needle in the vessel of the patient auto...
Confined Space Robotics - Edge Sensing a...
Confined space applications require specialized 3D sensors to scan the environment, detect objects, and avoid obstacles. Compared to mainstream sensor...
Confined Space Robotics - Force Percepti...
The sense of touch plays an essential role in our daily life, such as grasping, typing, social interaction and even detecting dangerous conditions....
Confined Space Robotics - In-situ Pipe R...
Legacy pipes make up 3% of nearly 2 million miles of utility pipes, and they are made of cast iron, wrought iron and bare steel. Some of those pip...
Confined Space Robotics - Mobile Manipul...
This project seeks to design and develop specialized mobile robots for confined space inspection and manufacturing to replace humans to perform dang...
Confined Space Robotics - Pipeline SLAM...
CMU in-pipe mapping and localization sensor payload in a 16-inch pipe (upper-left) 3D RGB-D point-cloud mapping result (upper-right), and the user i...
Confined-Space Robotic Manipulator and M...
Developing a highly reliable and robust real-time control robotic system for confined space manufacturing application requires a cross-disciplinary kn...
Controlled Coverage for Auto-Body Painti...
Today the programming of a spray painting robot by a paint application specialist requires three to five months. This process requires so much time be...
Coverage Path Planning in the Plane: Exa...
Exact cellular decompositions are structures that globally encode the topology of a robot's free space, while locally describing the free space's geom...
DARPA RACER Challenge
The DARPA RACER program's goal is to develop and demonstrate autonomy technologies that enable unmanned ground vehicles (UGVs) to maneuver in unstruct...
DARPA Subterranean Challenge - Team Expl...
The DARPA Subterranean or “SubT” Challenge seeks novel approaches to rapidly map, navigate, and search underground environments during time-sensit...
Deformation Modeling
While the human body is rigid to a certain degree based on the skeleton, soft tissue is deformable in a way that does not conform to any rigid app...
Electronic Waste Recycling
We live in a world where most sensitive information is stored on our devices. Eventually, like many things, those devices are thrown away. Existing wa...
Electronics waste recycling: Deep learni...
We live in a world where the most sensitive information is stored on our devices. Eventually, like many things, those devices are thrown away. Existin...
Electronics waste recycling: Novel manip...
For high-volume industrial applications, manipulators need to have a dynamic range of motion as well as to safely interact with the environment. Most...
Expeditionary Robotics - Deploy Structur...
Choset’s goal to democratize the delivery of medical care to anyone, anywhere and at any time, One of the lessons that the general public learned is...
Expeditionary Robotics - Modular Mobile...
The Modular Mobile Robots for Automation projects are focused on developing modular hardware and software platforms that can be used in a variety of...
Geometric Mechanics: The Dynamics and Co...
In multi-agent robotic systems, it is not often that we consider the different and rich ways in which agents interact in their environment, especially...
Hetero-Agent, Multi-Objective, Traveling...
With the rapid development of affordable robots with embedded sensing and computation capabilities, we are quickly approaching a point at which real-l...
Highly-Articulated Robotic Probe
In order to overcome the limitations of currently available assistive technologies for minimally invasive cardiac surgery (MICS), we develop and teste...
Hybrid Robot Exploration
This project seeks novel approaches to rapidly map, navigate, and search environments for situational awareness during time-sensitive combat operation...
Locomoting Systems - Biologically Inspir...
Animals moving on and in fluids and solids move their bodies in diverse ways to generate propulsion and lift forces. In fluids, animals can wiggle, st...
Locomoting Systems - Geometric Mechanics...
Locomotion is the means by which systems use internal shape changes to move through the world, and is one of the most fundamental actions performed...
Locomoting Systems - Magnetically Contro...
Microrobots have the potential to impact many areas of medicine such as microsurgery, targeted drug delivery and minimally invasive sensing. Just like...
Locomoting Systems - Series Elastic Actu...
The small cross section and wide range of motion of our snake robots allow them to navigate many diverse environments, such as rough ground, channel...
Locomoting Systems - Shakey Perception
Methods for state estimation that rely on visual information are challenging on dynamic robots because of rapid changes in the viewing angle of onboa...
Locomoting Systems - Snake Robot Systems...
Taking from the first generation of the snake robot, our snake robots have evolved into the snake robot system from both hardware and control stra...
Locomoting Systems - Titan 6 - Large Siz...
The Titan 6 project seeks to build a two-meter tall six-legged “light-weight”robot with an electrical approach. The robot needs to climb over ta...
Locomoting Systems - Vertical Robot Tran...
Urban combat theaters and disaster scenarios present a unique challenge as personnel must move rapidly to forward positions while transporting heav...
MMPUG: Multi-Model Perception Uber Good
This project seeks novel approaches to rapidly map, navigate, and search environments for situational awareness during time-sensitive combat operation...
Manufacturing - Airplane Ink-Jetting
Decorative painting over large complex surfaces with highly detailed patterns is a challenging operation in aerospace manufacturing, which requires a...
Manufacturing - Semi-Supervised Learning...
Advanced manufacturing is vital for expeditionary manufacturing tasks with limited conventional industrial infrastructure and scarce resources. Among...
Material Tracking on Moving Conveyor Bel...
Modernized waste management technology is an important area that needs focus because of its impact on our environment, natural resources, and public h...
Material Tracking on moving Conveyor bel...
Modernized waste management technology is an important area that needs focus because of its impact on our environment, natural resources, and public h...
Material Tracking on moving conveyor bel...
Modernized waste management technology is an important area that needs focus because of its impact on our environment, natural resources, and public h...
Mechanical and Reflexive Intelligence fo...
Exploring the solar system for liquid water is one of the largest goals of current space exploration. Enceladus, the sixth largest moon of Saturn and...
Medical AI: Ultrasound Segmentation
In the case of high-tempo, traumatic scenarios on the battlefield, real-time ultrasound (US) imaging serves as an enabler for countless possible robot...
Medical Robotics: Autonomous Ultrasound...
In the case of high-tempo, traumatic scenarios on the battlefield, real-time ultrasound (US) imaging serves as an enabler for countless possible robot...
Medical Robotics: ENT surgical augmentat...
This project intends to facilitate the automatic recreation of surgical procedures practiced on bone phantoms from CT scans on real patients. This way...
Medical Robotics: Medical Sensation Redu...
40% of adults and 63% of children have a significant needle-phobia with 5 to 8% actively avoiding treatment due to the fear of pain. The avoidance of...
Medical Robotics: Needle Insertion
The most important component in case of high-tempo, traumatic scenarios on the battlefield is inserting a needle in the vessel of the patient autonomo...
Modular Distributed Manipulator System
This work will develop algorithms for a novel materials transport and manipulation system which will have applications ranging from flexible manufactu...
Modular Robots: EigenBots System Design
Modular components need to be developed for both hardware and software modularity. Over the past few years we have been developing systems made of mul...
Modular Robots: Mechanism and Control De...
The Biorobotics group has embraced and advanced modular robot systems, first starting with our snake robots and now virtually all of our hardware and...
Multi-Agent Heterogeneous Ergodic Search...
Multi-robot systems can provide greater sensor coverage and reliability than single robot systems. Among multi-robot applications, significant researc...
Multi-Agent Path Planning: Subdimensiona...
With the rapid development of affordable robots with embedded sensing and computation capabilities, we are quickly approaching a point at which real-l...
Multi-Agent Path Planning: Subdimensiona...
With the rapid development of affordable robots with embedded sensing and computation capabilities, we are quickly approaching a point at which real-l...
Multi-Agent Planning - Communication Lea...
Efficient inter-agent communication is an important requirement for both cooperative multi-agent robotics tasks, as well as distributed computing. In...
Multi-Agent Planning - Multi-Agent 2D/3D...
We consider the problem of determining paths for one or many robots to navigate in an unknown a priori environment, so that the robots can be directed...
Multi-Agent Planning - Partial Reward De...
One of the preeminent obstacles to scaling multi-agent reinforcement learning to large numbers of agents  is assigning credit to individual agents' a...
Multi-Agent: Communication Learning
Efficient inter-agent communication is an important requirement for both cooperative multi-agent robotics tasks. In this work, while multi-agent robot...
Multi-Agent: Improving Modern Machine Le...
Recently machine learning techniques, specifically Reinforcement Learning, is being used rigorously to enable robots to perform in a desired manner. B...
Multi-agent Reinforcement Learning: Dist...
Recent years have seen massive leaps forward in single-agent artificial intelligence, in particular in deep-reinforcement learning (deep-RL). A large...
Multi-agent: Decentralized Assembly Syst...
A scalable multi-agent gantry system (Figure 1) will be used to demonstrate the performance of multi-agent planners (Figure 2) in the real environment...
Point Cloud Registration (PCR)
Point Cloud registration is an important step for various applications such as robotic manipulation, Augmented Reality, etc. Recently developed deep l...
Punctate Pressure
Injection site pain (ISP) is a common experience for patients, with 40% of individuals experiencing needle phobia and over 5% of these patients av...
Retract-like structures for SE(2) and SE...
This work considers sensor based motion planning for rod-shaped robots in unknown environments. The motion planning scheme is based on the rod hierach...
Robotic Force Sensor and Perception
The sense of touch plays an essential role in our daily life, such as grasping, typing, social interaction and even detecting dangerous conditions. Ho...
Robovent
Despite advancements in sensing and control capabilities of modern ventilators, rural hospitals and overloaded healthcare centers can face difficulty...
Satellite Inspection and Servicing
Satellites are uniquely alone in their environment. They are launched with everything they need for their entire mission, from initial operational cap...
Search and Rescue
Urban Search and Rescue (USAR) workers have 48 hours to find trapped survivors in a collapsed structure, otherwise the likelihood of finding victims s...
Sensor Based Coverage of Unknown Planar...
The sensor-based coverage task is useful for many applications such as autonomous lawn mowing, floor scrubbing, and snow removal, where the environmen...
Skill Learning - Learning Skills and Tem...
Agents that can build temporally abstract representations of their environment are better able to understand their world and make plans on extended...
Snake Robot Design
Snake robots are a new type of robots, known also as serpentine robots. As the name suggests, these robots possess multiple actuated joints thus mulit...
Space Robotics: Dexterous On-Orbit Maint...
Satellites are uniquely alone in their environment. They are launched with everything they need for their entire mission, from initial operational cap...
Surgical Snake Robot
Progression of medical technology has brought dramatic improvements in surgical outcomes and prognosis. Recently, minimally invasive surgery has been...
Toward Practical Ultrasound AI Across Re...
In the case of high-tempo, traumatic scenarios on the battlefield, real-time ultrasound (US) imaging serves as an enabler for countless possible robot...
Underwater Confined Space Navigation and...
Currently, no technology exists that can place robot end-effectors into any confined, awkwardly shaped, and hazardous space. The purpose of this proje...
Underwater Confined Space Navigation and...
Currently, no technology exists that can place robot end-effectors into any confined, awkwardly shaped, and hazardous space. The purpose of this proje...
Vanderbot
We want to use a hyper-redundant snake-like robot arm to assist a human working in tight spaces on tasks like caulking or pipe assembly. For the safet...
Past
ARPA-E REPAIR
Old natural gas pipelines are underground for decades without being taken a look and many issues may occur. Upon events like leakages, pipes were dug...
Autonomous Extra-vehicular Robotic Camer...
This work addresses path planning and control for space inspection applications. The robot is the first generation of a free-flying robotic camera tha...
Bridge Inspection with Serpentine Robots...
Federal law mandates that each bridge, spanning more than $20$ feet in America, be inspected once every two years. Currently, rigging and traffic con...
Constrained Controlled Coverage
Robotic spray painting of car bodies motivates our work in constrained controlled coverage. This task has three parts: complete coverage, uniform cove...
Dynamic Climbing
This work extends dynamic robotic legged locomotion from horizontal motions such as walking, hopping, and running, to vertical motions such as leaping...
LSTAT/Snake Robot
The LSTAT (Life Support for Trauma and Transport) system incorporates many of the functions of an ICU, but is contained entirely within a stretcher. I...
Mechatronics
Encoding our motion planning algorithms into small hardware platforms.
Medical AI: BodySLAM
Minimally invasive surgery (MIS) has been shown to reduce patient trauma and shorten hospitalization stays, but when operating through a small incisio...
Mini Bone-Attached Robotic System
This research seeks to develop a novel computer assisted and robotic tool that will enable less and minimally invasive surgical techniques for orthopa...
Mobile Robot Platform Design
A challenging probem in Mechanical Engineering and robotics is the design of an outdoor mobile robot. The robot must successfully traverse through its...
Motion Planning for Snake Robots
Snake robots have many applications, but are hard to control. A person cannot simply operate each joint of a snake individually because there are too...
Probabilistic Coverage
Probabilistic planner technology can significantly extend the capabilities of current sensors. In many situations time may not permit covering a targe...
Retract-like structures for Euclidian Sp...
One approach to sensor based planning employs a roadmap, a concise representation of a robot's work space or configuration space. This approach is ana...
Robotic Demining
Land mines are a real problem. In 1993 alone, 100,000 land mines were picked up and 2.5 million land mines were placed on the ground, mostly in areas...
Simultaneous Localization and Mapping
Exploration is achieved by constructing a map called the generalized Voronoi graph (GVG). In the planar case, the GVG is the set of points equidistant...
The Arc Transversal Median
We have developed a new method for improving the azimuth accuracy of range information using conventional (Polaroid) low resolution ultrasonic sensors...
Vacuum Cleaning Robots
It sucks. It is the dream robot application. Conventional robot vacuum cleaners move randomly about their floor space yielding inefficient solutions...
Visual Localization
The goal of this project is to develop an accurate and reliable visual-based localization system for an outdoor mobile robot. For the UXO / hunting /...