I work on manipulation. My goal is to enable robots to robustly and gracefully interact with the world to perform complex manipulation tasks in uncertain, unstructured, and cluttered environments. I want to make this interaction faster, safer, elegant, and involve simpler actuation. To this end, I founded and direct the Personal Robotics Lab, co-direct the Manipulation Lab, and lead the HERB effort of the QoLTbots systems area and the Mobile Manipulation effort of the Mobility and Manipulation Thrust at the Quality of Life Technologies NSF ERC.
I am currently focussing on two topics: Physics-based Manipulation and The Mathematics of Human-Robot Interaction. They are heavily intertwined, both born out of the goal of robots performing complex manipulation tasks with and around people.
The Mathematics of Human-Robot Interaction: I focus on formalizing Human-Robot Interaction principles using machine learning, motion planning, and function gradient algorithms:
I have greatly enjoyed collaborating with HRI researchers, and our joint exploration has broadened my understanding of humans, robots, and mathematics.
I am also interested in Manipulation Planning:
|Research Interest Keywords|
|active perception, computer graphics, control, human motion simulation, humanoid robotics, manipulation, motion planning|
|The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.|
Contact Us | Update Instructions