Simulation and parameter estimation for soft robotics
We aim to build fast simulation models of soft deformable materials in order to facilitate soft robot design, or robotic manipulation of elastic objects.
Control and design optimization for a special type multi-robot system
We are developing a special type multi-robot system which has the potential to be scaled to large scale robotic systems with nice properties such as high mobility, re-configurability. In this project, we aim to work on the control and task-based design optimization of these multi-robot systems.
Simulation, design optimization and control of knee type jointed mechanisms
Human bodies are made up of bones (equivalent of links in a traditional robot). The relative movement of bones is often constrained along different complementary surfaces which serves as joints.Work on this project involves simulation, design optimization and control of knee type jointed mechanisms.
Bio-inspired quadruped design & control with legs having parallel actuation
Design, morphology and the actuation scheme for the legs greatly influence the control and capability of the quadruped robots for agile and dynamic motion. We aim to build a general purpose quadruped base platform with direct drive actuation where we test novel bio-inspired quadruped robot designs.
Design and fabrication of a multi-robot collaborative mobile robotic system prototype
The main objective of this project is design and fabrication of a multi-robot mobile robotic system prototype. Current mobile robotic systems use a heavy industrial manipulator on an even heavier mobile base. We want to change this paradigm by creating a lightweight and stiff mobile robotic system.
Robotic clay modeling
Robots can perform many tasks today, but can they model clay? In contrast to previous robotic manipulation technique, which mostly deal with hard materials, in this project we will explore robotic manipulation of materials that \emph{flow}: clay, plaster, stucco, etc. Our ultimate goal is to control a robot that can perform sculpting tasks or pottery like the ones in the picture above.
Castle Maker: Simultaneous and collaborative robotic assembly
Assembly is one of the fundamental tasks that robots were designed to do. The standard approach that has been used since the dawn of robotics is to break the assembly procedure into smaller tasks that can be run sequentially. This approach benefits from easy programming and computation. However, the
Deep learning Hololens project in collaboration with Microsoft
Microsoft has proposed two projects related to object pose estimation and interaction with robots. More details in the attached document.
Augmented Virtuality
While immersed in a virtual reality, we are usually oblivious to the real world. Augmented virtuality is a concept where the virtual world is enriched with real physical objects, or virtual representations of them. The goal of this project is to design an augmented virtuality system using a combinat
Real hands in VR
Virtual reality is an immersive technology that uses a Head Mounted Display (HMD), to place a player in a virtual world. While the visual feedback part of VR has received a lot of attention in recent years, and is quite convincing, other parts are still lacking. In particular, not being able to see

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