Robotics - Revision history

Jwb: /* Preference Based Learning for Exoskeleton Personalization */

2021-01-12T10:03:38Z

‎Preference Based Learning for Exoskeleton Personalization

Jwb: /* Current and Recent Research Topics */

2021-01-12T10:02:44Z

‎Current and Recent Research Topics

Jwb: /* DARPA Autonomous Robot Manipulation Software (ARMS) */

2021-01-12T09:52:51Z

‎DARPA Autonomous Robot Manipulation Software (ARMS)

Jwb: /* DARPA Autonomous Robot Manipulation Software (ARMS) */

2021-01-12T09:52:26Z

‎DARPA Autonomous Robot Manipulation Software (ARMS)

Jwb: /* DARPA Autonomous Robot Manipulation Software (ARMS) */

2021-01-12T09:52:07Z

‎DARPA Autonomous Robot Manipulation Software (ARMS)

Jwb: /* Past Research Topics */

2021-01-12T09:50:54Z

‎Past Research Topics

Jwb: /* DARPA Autonomous Robot Manipulation Software (ARMS) */

2021-01-12T09:48:10Z

‎DARPA Autonomous Robot Manipulation Software (ARMS)

Jwb: /* Recent Research Topics */

2021-01-12T09:46:48Z

‎Recent Research Topics

Jwb: /* Recent Papers */

2021-01-12T09:43:22Z

‎Recent Papers

Jwb: /* Locomotion Rehabilitation After Severe Spinal Cord Injury */

2021-01-12T09:42:52Z

‎Locomotion Rehabilitation After Severe Spinal Cord Injury

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-[[Image:Exo.png|400px]]
+[[Image:Exo.png|120px]]
 |}

← Older revision		Revision as of 10:02, 12 January 2021
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	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.		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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		+	{\| width=100% border=1 cellpadding=2 cellspacing=2
		+	\|- valign=top
		+	\|
		+
		+	=== Preference Based Learning for Exoskeleton Personalization ===
		+
		+	In preference based learning, only a human subject's relative preference between two different settings is available for learning feedback. In collaboration with Prof. [http://www.yisongyue.com/ Yisong Yue] we have been developing techniques for preference learning in both bandit and RL settings. With The Ames Group, we have applied these preference learning techniques to the problem of learning and optimizing the parameters of exoskeleton gaits so that user comfort is optimized.
		+
		+	\|
		+	[[Image:Exo.png\|400px]]
	\|}		\|}

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-[[Image:RoboProbe.png | 150px]]
+[[Image:RoboProbe.png | 165px]]
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-[[Image:RoboProbe.png | 300px]]
+[[Image:RoboProbe.png | 150px]]
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-[[Image:RoboProbe.png]]
+[[Image:RoboProbe.png | 300px]]
+|
 === Neural Prosthetics and Brain-Machine Interfaces ===
 A neural prosthesis is a ''direct brain interface'' that enables a human, via the use of surgically

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-[[Image:DARPA_TwoArm.png | 300px]]
+[[Image:DARPA_TwoArm.png | 150px]]
 |}
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 [[Image:Worm03animated_web.gif | Nematode]]
+|
 === Animal Tracking and Activity Recognition ===
 We are interested in developing methods to automatically identify and classify "activities" in data

@@ Line 81: / Line 81: @@
 === Recent Papers ===
-== Recent Research Topics ==
+== Past Research Topics ==
 Here are a some recent research topics that were actively pursued in our group.
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-=== Human Detection & Tracking Using UWB Radar ===
+=== DARPA Autonomous Robot Manipulation Software (ARMS) ===
+|
-[[Image:OnePageOverview.jpg | 300px]]
+[[Image:DARPA_TwoArm.png | 300px]]
 |}

← Older revision		Revision as of 09:43, 12 January 2021
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	=== Recent Papers ===		=== Recent Papers ===
−	~~'''Planning in Uncertain Environments'''~~
−	* Noel du Toit and Joel W. Burdick, [[media:DuToitTRO12.pdf \| Robotic Motion Planning in Dynamic, Uncertain Environments]], \'\'IEEE Trans. Robotics,\'\' vol 28, no. 1, Feb. 2012, pp. 101-115.
−
−	* T.H. Chung and J.W. Burdick, [[media:ChungBurdickTRO12.pdf \| Analysis of Search Decision Making Using
−	~~Probabilistic Search Strategies]], ''IEEE Trans. Robotics,'' vol. 28, no.1, Feb. 2012, pp. 132-144.~~
−
−	* Scott C. Livingston, Richard M. Murray, and Joel W. Burdick, [[media:LivingstonICRA12.pdf \| Backtracking
−	~~Temporal Logic Synthesis for Uncertain Environments]], ''Proc. IEEE Int. Conf. Robotics and Automation,''~~
−	~~May 2012, Minneapolis, MN.~~
−
−	~~'''Dextrous Manipulation'''~~
−	* Paul Hebert, Nicolas Hudson, Jeremy Ma, Thomas Howard, Thomas Fuchs, Max Bajracharya, Joel Burdick,
−	~~[[media:HebertICRA12.pdf \| Combined Shape, Appearance, and Silhouette for Simultaneous Manipulator and~~
−	~~Object Tracking]],''Proc. IEEE Int. Conf. Robotics and Automation,'' May 2012, Minneapolis, MN.~~
−
−	* Thomas Allen, Joel Burdick, and E. Rimon, [[media:CagingICRA12.pdf \| Two-Fingered Caging of Polygons via Contact-Space Graph Search]], \'\'Proc. IEEE Int. Conf. Robotics and Automation,\'\' May 2012, Minneapolis, MN.
−
−	* Sandeep Chinchali, Scott C. Livingston, Ufuk Topcu, Joel. W. Burdick, and Richard M. Murray, [[media:GaitLTL.pdf \| Towards Formal Synthesis of Reactive Controllers for Dexterous Robotic Manipulation]], \'\'Proc. IEEE Int. Conf. Robotics and Automation,\'\' May 2012, Minneapolis, MN.
−
−	* Matanya Horowitz and Joel W. Burdick, [[media:MatanyaICRA12.pdf \| Combined Grasp and Manipulation Planning as a Trajectory Optimization Problem]], \'\'Proc. IEEE Int. Conf. Robotics and Automation,\'\' May 2012, Minneapolis, MN.
−
−	* N. Hudson, T. Howard, J. Ma, A. Jain, M. Bajracharya, C. Kuo, L. Matthies, P. Backes, P. Hebert, T. Fuchs, J. Burdick, [[media:DARPAICRA12.pdf \| End-to-End Dextrous Manipulation with Deliberate Interactive Estimation]], \'\'Proc. IEEE Int. Conf. Robotics and Automation,\'\' May 2012, Minneapolis, MN.\n\n\'\'\'Axel/Mobility\'\'\'
−
−	* I.A.D. Nesnas, J.B. Matthews, P. Abad-Manterola, J.W. Burdick, J.A. Edlund, R.D. Peters, M.M. Tanner, R.N. Miyake, B.S. Solish, and R.C. Anderson, [[media:AxelJOFR.pdf \| Axel and DuAxel Rovers for the Sustainable Exploration of Extreme Terrains]], \'\'J. Field Robotics,\'\' Feb., 2012.
−
−	* P. Varkonyi, David Gontier, and J.W. Burdick, [[media:BipedICRA12.pdf \| On the Lyapunov stability of quasistatic planar biped robots]], \'\'Proc. IEEE Int. Conf. Robotics and Automation,\'\' May 2012, Minneapolis, MN.
−
−	~~'''Spinal Cord Injury (SCI) Rehabilitation'''~~
−
−	* \'\'Lancet Paper\'\'\n\|}

	== Recent Research Topics ==		== Recent Research Topics ==

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 === Locomotion Rehabilitation After Severe Spinal Cord Injury ===
-Approximately 250,000 people in the U.S. suffer from a major Spinal Cord Injury (SCI), and ~11,000
+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,
+new people will be afflicted each year.  Our lab collaborates with Prof. Reggie Edgerton at UCLA
-Prof. Susan Harkema at Univ. of Louisville, and Prof. Y.C. Tai here at Caltech to develop new
+to develop new therapies and new technologies that hopefully one day will enable patients suffering
-therapies and new technologies that hopefully one day will enable patients suffering from SCI to
+from SCI to partially or fully recover the ability to walk.  Currently, we focus on these topics:
 partially or fully recover the ability to walk.  Currently, we focus on these topics:
-−
-* Novel ''high density epidural spinal stimulating electrode arrays'' for locomotion recovery.  For more on
-this topic, [http://robotics.caltech.edu/~NIH_BRP/index.php/Main_Page see this link].
-* New robotic mechanisms for active rehabilitation of SCI in animal (mice and rat) models.
-* New adaptive training algorithms to optimize the rehabilitation afforded by robotic devices.
-* Drug therapies to improve locomotion recovery.
 |}
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 |- valign=top
+|
 === Recent Papers ===
 '''Planning in Uncertain Environments'''