Critical Technologies
Hierarchical control of cooperative manipulators.
Object-based task-level control.
Robot control in the present of joint flexibility.
Non-linear feedback.
Experimental Platforms
Two two-degree-of-freedom SCARA-type manipulators with endpoint force sensors and a vision system.
Two four-degree-of-freedom SCARA-type manipulators with end-point position sensors, end-point force sensors, joint encoders, torque sensors, and a vision system. These robots exhibit exaggerated joint flexibility.
Experimental Demonstrations to Date
For a complete list of ARL's work and publications, see the home page.
Dynamic control of end-effectors and objects using direct visual feedback in real-time by Stan Schneider~\cite{Schneider:89}.
Cooperative manipulation of delicate objects: Fluorescent Lamp Assembly by Larry Pfeffer~\cite{Pfeffer:93,PfefferC:93}.
Robotic composite-tape layout by Rick Hosey~\cite{DARPAfinal:91}.
Object acquisition and insertion by Stan Schneider~\cite{Schneider:89,SchneiderC:93}.
Capture and cooperative manipulation from a moving base by Rob Vasquez~\cite{Vasquez:92}.
Capture and cooperative manipulation of an object with internal dynamics by Dave Meer~\cite{Meer:94}.
Experimental Demonstrations in Progress
For comments or questions contact:
www@sun-valley.stanford.edu