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Title: Robotics/Research - Caltech Robotics Group Research topics include sensor based motion planning, robot locomotion, control theory, medical robotics, and modular robots.
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Burdick Group Home Page
Burdick Group
Home Page
Robotics and BioEngineering Research
Departments of Mechanical Engineering and BioEngineering
Division of Engineering
& Applied Science ,
California Institute of Technology
Thomas Laboratory, Mail Code 104-44
Home
People
Research
Papers
Robot Pictures
Links
Current
Research Topics
Our research
group covers both Robotics and BioEngineering. Current topics of
interest include:
Neural
Prosthetics and Brain-Machine Interfaces. A neural
prosthesis as a ``direct
brain interface'' that enables a human, via the use of surgically
implanted electrode arrays and associated computer decoding algorithms,
to control external electromechanical devices by pure thought
alone. In this manner, some useful functions that have been lost
through disease or accident can be partially restored. Patients who
might benefit from such a prosthesis would include those with spinal
cord sections or lesions, peripheral nerve disease, stroke to motor
cortex, and ALS. Our lab collaborates with the laboratories of Prof. Richard Andersen and Prof. Y.C. Tai to develop neural
prostheses and brain-machine interfaces. Our group focuses on
these main issues:
Autonomously Moving Neural Recording Probes Neural decoding algorithms  Locomotion Rehabilitation. Approximately250,000 people in the U.S. suffer from a major Spinal Cord Injury(SCI), and ~11,000 new people will be afflicted each year. Ourlab collaborates with Prof. Reggie Edgerton at UCLA to develop newtherapies and new technologies that hopefully one day will enablepatients suffering from SCI, stroke, or major injury to partially orfully recover the ability to walk. Currently, we focus on thesetopics: New robotic mechanisms for active rehabilitation of SCI inanimal (mice) models. New adaptive training algorithms to optimize therehabilitation afforded by robotic devices Drug therapies to improve locomotion recovery Novel stimulating electrodes for locomotion recovery
Sensor-Based
Motion Planning and Sensor Processing. ``Sensor Based
Planning'' incorporates
sensor information, reflecting the current state of the environment,
into a robot's planning process, as opposed to classical planning ,
where full knowledge of the world's geometry is assumed to be known
prior to the planning event. Processing the sensory data for
subsequent use in planning also offers many challenges Current
interests include
Sensor-based motion planning
algorithms
Scan-based odometry
Multi-scale data processing
for localization and mapping
New feature extraction
techniques
Multi-Robot
Cooperation. Teams of robots can potentially accomplish
tasks that are not feasible by a single robot, or they can potentially
accomplish the same task with less time or improved capability.
Our group studies the following issues in multi-robot cooperation:
Cooperative sensing. How
can a team of robots best
cooperate to gather information?
Multi-robot boundary
coverage.
Decision making in multi-robot
teams
PulsatileJet Propulsion for Underwater Robots. Squid,Salps, and Jellyfish propel themselves via pulsatile jets ofvortices. We are trying to understand if this form of propulsionoffers a viable alternative for the propulsion of small, cheap, slow,but highly maneuverable underwater vehicles. Our goals are todevelop predictive models of pulsatile jet forming devices (such assynthetic jets) and build proof-of-concept prototype propulsers. 
Automated High Throughput
Screening. We are trying to develop techniques for
highly automated motion tracking of biological organisms in controlled
laboratory environments. These techniques could be potentially
applied to high-throughput
behavior screening for molecular, cell, and developmental biology, as
well as
to capture complex behavioral data for research in neuroethology and
biopsychology. Our long term goal is to develop a framework
where the basic tracking engine can be readily adapted to different
organisms by non-specialists.
jwb@robotics.caltech.edu
Last modified: Tues. Nov 1 15:03:19 PST 2005
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Research | topics | include | sensor | based | motion | planning, | robot | locomotion, | control | theory, | medical | robotics, | and | modular | robots. |
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http://robotics.caltech.edu/
Caltech Robotics Group 2008 October
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Research topics include sensor based motion planning, robot locomotion, control theory, medical robotics, and modular robots.
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