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| − | === Animal Tracking and Activity Recognition ===
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| − | We are interested in developing methods to automatically identify and classify "activities" in data
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| − | streams, such as video sequences. A practical application and motivation for this work is automated
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| − | === Sensor-Based Motion Planning and Sensor Processing ===
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| − | ''Sensor Based Planning'' incorporates sensor information, reflecting the current state of the
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| − | environment, into a robot\'s planning process, as opposed to classical planning , where full
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| − | recent interests of our group include
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| − | * Motion planning in Cluttered, Dynamic, and Uncertain environments
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| | === Neural Prosthetics and Brain-Machine Interfaces === | | === Neural Prosthetics and Brain-Machine Interfaces === |
Revision as of 01:50, 12 January 2021
The Burdick Group Wiki Home Page
Robotics and Spinal Cord Therapy
Burdick Research Group: Robotics & BioEngineering
- Our research group pursues both Robotics and BioEngineering related to spinal cord injury. Below you can find summaries of our current research efforts, links to recent papers, and summaries of past research efforts.
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Current and Recent Research Topics
DARPA Subterranean Challenge
We are part of Team CoSTAR (lead by NASA/Jet Propulsion Laboratory, with partners MIT, KAIST, LTU), competing in the Subterranean Challenge (www.subtchallenge.com). See the Team's web site for the latest information.
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SQUID: Self-Quick-Unfolding Investigative Drone
A SQUID drone can be launched in ballistically from a cannon or tube, unfold in mid-flight, and stabilize itself. To the left you can see a diagram of SQUID I and photographs of SQUID 2 in the folded and unfolded states.
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Axel and DuAxel Rovers for extreme planetary terrains
Conventional robotic Martian explorers, such as Sojourner, Spirit, and Opportunity, have sufficient
mobility to access ~60% of the Martian surface. However, some of the most interesting science
targets occur in the currently inaccessible extreme terrains, such as steep craters, overhangs,
loose soil, and layered stratigraphy. Access to extreme terrains on other planets (besides Mars)
and moons is also of potential interest. In collaboration with JPL, we are developing the Axel
and DuAxel rovers. Axel is a minimalist tethered robot that can ascend and descend vertical
and steeps slopes, as well as navigate over large (relative to the body size) obstacles. In the
DuAxel configuration, two Axels dock with a central module to form a self-contained
4-wheeled rover, which can then disassemble as needed to allow one or both Axels to descend into
extreme terrain. The goal of this work is to develop and demonstrate the motion planning, novel
mobility mechanisms, mobility analysis, and steep terrain sampling technologies that would allow
Axel and DuAxel to be viable concepts for future scientific missions to extreme terrains.
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Locomotion Rehabilitation After Severe Spinal Cord Injury
More than 250,000 people in the U.S. suffer from a major Spinal Cord Injury (SCI), and over 11,000
new people will be afflicted each year. Our lab collaborates with Prof. Reggie Edgerton at UCLA
to develop new therapies and new technologies that hopefully one day will enable patients suffering
from SCI to partially or fully recover the ability to walk. Currently, we focus on these topics:
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Recent Papers
Past Research Topics
Here are a some recent research topics that were actively pursued in our group.
DARPA Autonomous Robot Manipulation Software (ARMS)
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Neural Prosthetics and Brain-Machine Interfaces
A neural prosthesis is a direct brain interface that enables a human, via the use of surgically
implanted electrode arrays and associated computer decoding algorithms, to control external
electromechanical devices by pure thought alone. In this manner, some useful motor functions that
have been lost through disease or accident can be partially restored. Our lab collaborates with the
laboratories of Prof. Richard Andersen and Prof. Y.C. Tai to develop neural prostheses and brain-machine
interfaces. Our group focuses on these particular issues:
- Autonomously Positioned (robotic) Neural Recording Electrodes. To optimize the quality of
the neural signal recorded by an extracellular electrode, the active recording site must be
positioned very close (at least within 30 microns, and preferably a few microns from the soma) to
the neural cell body. However, due to blood pressure variations, breathing, and mechanical shocks,
the electrode-soma geometry varies significantly over time. We have developed algorithms which
allow an actuated electrode to autonomously reposition itself in real time to maintain high quality
neural recordings.
- Neural decoding algorithms. A decoding algorithm attempts to decode, or decipher, the
intent of a paralyzed neural prosthetic user from the recorded electrode signals. Neural decoding
has become a well developed subject. We have chosen to explore the concept of a supervisory
decoder whose aim is to estimate the current cognitive and planning state of the prosthetic user.
E.g., is the user awake? Do they want to use the prosthetic? Are they currently in the planning
process? Do they want to execute the plan? Do the want to change or scrub the current prosthetic
action? We have chosen to formulate the design of a supervisory decoder as a problem in hybrid
system identification.
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