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2008


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A GPU-Based Approach for Real-Time Haptic Rendering of 3D Fluids

Yang, M., Lu, J., Zhou, Z., Safonova, A., Kuchenbecker, K. J.

In Proc. SIGGRAPH Asia Conference, Singapore, December 2008, Oral presentation given by Yang (inproceedings)

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[BibTex]

2008


[BibTex]


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A Practice-Integrated Curriculum in Mechanical Engineering

Yim, M., Kuchenbecker, K. J., Arratia, P., Bassani, J., Fiene, J. P., Kumar, V., Lukes, J.

In Proc. ASEE Annual Conference and Exposition, Pittsburgh, Pennsylvania, USA, June 2008, Oral presentation given by Yim (inproceedings)

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[BibTex]

[BibTex]


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Effects of Proprioceptive Motion Feedback on Sighted and Unsighted Control of a Virtual Hand Prosthesis

Blank, A., Okamura, A. M., Kuchenbecker, K. J.

In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages: 141-142, Reno, Nevada, USA, March 2008, Poster presentation given by Blank (inproceedings)

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[BibTex]

[BibTex]


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The Touch Thimble: Providing Fingertip Contact Feedback During Point-Force Haptic Interaction

Kuchenbecker, K. J., Ferguson, D., Kutzer, M., Moses, M., Okamura, A. M.

In Proc. IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages: 239-246, Reno, Nevada, USA, March 2008, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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The Touch Thimble

Kuchenbecker, K. J., Ferguson, D., Kutzer, M., Moses, M., Okamura, A. M.

Hands-on demonstration presented at IEEE Haptics Symposium, Reno, Nevada, USA, March 2008 (misc)

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[BibTex]

[BibTex]


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Haptography: Capturing the Feel of Real Objects to Enable Authentic Haptic Rendering

Kuchenbecker, K. J.

In Proc. Haptic in Ambient Systems (HAS) Workshop, in conjunction with the First International Conference on Ambient Media and Systems, Montreal, Canada, February 2008 (inproceedings)

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[BibTex]

[BibTex]


Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization
Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization

Spröwitz, A., Moeckel, R., Maye, J., Ijspeert, A. J.

The International Journal of Robotics Research, 27(3-4):423-443, 2008 (article)

Abstract
This article addresses the problem of how modular robotics systems, i.e. systems composed of multiple modules that can be configured into different robotic structures, can learn to locomote. In particular, we tackle the problems of online learning, that is, learning while moving, and the problem of dealing with unknown arbitrary robotic structures. We propose a framework for learning locomotion controllers based on two components: a central pattern generator (CPG) and a gradient-free optimization algorithm referred to as Powell's method. The CPG is implemented as a system of coupled nonlinear oscillators in our YaMoR modular robotic system, with one oscillator per module. The nonlinear oscillators are coupled together across modules using Bluetooth communication to obtain specific gaits, i.e. synchronized patterns of oscillations among modules. Online learning involves running the Powell optimization algorithm in parallel with the CPG model, with the speed of locomotion being the criterion to be optimized. Interesting aspects of the optimization include the fact that it is carried out online, the robots do not require stopping or resetting and it is fast. We present results showing the interesting properties of this framework for a modular robotic system. In particular, our CPG model can readily be implemented in a distributed system, it is computationally cheap, it exhibits limit cycle behavior (temporary perturbations are rapidly forgotten), it produces smooth trajectories even when control parameters are abruptly changed and it is robust against imperfect communication among modules. We also present results of learning to move with three different robot structures. Interesting locomotion modes are obtained after running the optimization for less than 60 minutes.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


Passive compliant quadruped robot using central pattern generators for locomotion control
Passive compliant quadruped robot using central pattern generators for locomotion control

Rutishauser, S., Spröwitz, A., Righetti, L., Ijspeert, A. J.

In Proceedings of the 2008 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pages: 710-715, IEEE, Scottsdale, AZ, 2008 (inproceedings)

Abstract
We present a new quadruped robot, “Cheetah”, featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission to the knee is achieved by means of a Bowden cable mechanism. Simple electronics to command the actuators from a desktop computer have been designed in order to test the robot. A Central Pattern Generator (CPG) network has been implemented to generate different gaits. A parameter space search was performed and tested on the robot to optimize forward velocity.

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DOI [BibTex]

DOI [BibTex]


Graph signature for self-reconfiguration planning
Graph signature for self-reconfiguration planning

Asadpour, M., Spröwitz, A., Billard, A., Dillenbourg, P., Ijspeert, A. J.

In Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 863-869, IEEE, Nice, 2008 (inproceedings)

Abstract
This project incorporates modular robots as build- ing blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection / disconnection of modules and rotations of the degrees of freedom. This paper introduces a new approach to self-reconfiguration planning for modular robots based on the graph signature and the graph edit-distance. The method has been tested in simulation on two type of modules: YaMoR and M-TRAN. The simulation results shows interesting features of the approach, namely rapidly finding a near-optimal solution.

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DOI [BibTex]

DOI [BibTex]


An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching
An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching

Spröwitz, A., Asadpour, M., Bourquin, Y., Ijspeert, A. J.

In Proceedings on the 2008 IEEE International Conference on Robotics and Automation (ICRA), 2008, pages: 3508-3513, IEEE, Pasadena, CA, 2008 (inproceedings)

Abstract
This article presents a robust and heavy duty physical latching connection mechanism, which can be actuated with DC motors to actively connect and disconnect modular robot units. The special requirements include a lightweight and simple construction providing an active, strong, hermaphrodite, completely retractable connection mechanism with a 90 degree symmetry and a no-energy consumption in the locked state. The mechanism volume is kept small to fit multiple copies into a single modular robot unit and to be used on as many faces of the robot unit as possible. This way several different lattice like modular robot structures are possible. The large selection for dock-able connection positions will likely simplify self-reconfiguration strategies. Tests with the implemented mechanism demonstrate its applicative potential for self-reconfiguring modular robots.

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DOI [BibTex]

DOI [BibTex]

2007


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Point-spread functions for backscattered imaging in the scanning electron microscope

Hennig, P., Denk, W.

Journal of Applied Physics , 102(12):1-8, December 2007 (article)

Abstract
One knows the imaging system's properties are central to the correct interpretation of any image. In a scanning electron microscope regions of different composition generally interact in a highly nonlinear way during signal generation. Using Monte Carlo simulations we found that in resin-embedded, heavy metal-stained biological specimens staining is sufficiently dilute to allow an approximately linear treatment. We then mapped point-spread functions for backscattered-electron contrast, for primary energies of 3 and 7 keV and for different detector specifications. The point-spread functions are surprisingly well confined (both laterally and in depth) compared even to the distribution of only those scattered electrons that leave the sample again.

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Web DOI [BibTex]

2007


Web DOI [BibTex]


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The power of external mentors for women pursuing academic careers in engineering and science: Stories of MentorNet ACE and its Proteges and Mentors

Muller, C. B., Smith, E. H. B., Chou-Green, J., Daniels-Race, T., Drummond, A., Kuchenbecker, K. J.

In Proc. Women in Engineering Programs and Advocates Network (WEPAN) National Conference, Lake Buena Vista, Florida, USA, June 2007, Oral presentation given by Muller (inproceedings)

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[BibTex]

[BibTex]


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Effects of Visual and Proprioceptive Position Feedback on Human Control of Targeted Movement

Kuchenbecker, K. J., Gurari, N., Okamura, A. M.

In Proc. IEEE International Conference on Rehabilitation Robotics, pages: 513-524, Noordwijk, Netherlands, June 2007, Oral and poster presentations given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Quantifying the value of visual and haptic position feedback in force-based motion control

Kuchenbecker, K. J., Gurari, N., Okamura, A. M.

In Proc. IEEE World Haptics Conference, pages: 561-562, Tsukuba, Japan, March 2007, Poster presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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Comparing Visual and Haptic Position Feedback

Kuchenbecker, K. J., Gurari, N., Okamura, A. M.

Hands-on demonstration at IEEE World Haptics Conference, Tsukuba, Japan, March 2007 (misc)

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[BibTex]

[BibTex]


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Shaping event-based haptic transients via an improved understanding of real contact dynamics

Fiene, J. P., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 170-175, Tsukuba, Japan, March 2007, Oral presentation given by Fiene. {B}est Haptic Technology Paper Award (inproceedings)

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[BibTex]

[BibTex]


An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots
An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots

Mockel, R., Spröwitz, A., Maye, J., Ijspeert, A. J.

In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2801-2806, IEEE, San Diego, CA, 2007 (inproceedings)

Abstract
We present a Bluetooth scatternet protocol (SNP) that provides the user with a serial link to all connected members in a transparent wireless Bluetooth network. By using only local decision making we can reduce the overhead of our scatternet protocol dramatically. We show how our SNP software layer simplifies a variety of tasks like the synchronization of central pattern generator controllers for actuators, collecting sensory data and building modular robot structures. The whole Bluetooth software stack including our new scatternet layer is implemented on a single Bluetooth and memory chip. To verify and characterize the SNP we provide data from experiments using real hardware instead of software simulation. This gives a realistic overview of the scatternet performance showing higher order effects that are difficult to be simulated correctly and guaranties the correct function of the SNP in real world applications.

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DOI [BibTex]

DOI [BibTex]