Search-based Planning for Dual-Arm Manipulation (Summer 2011)
Benjamin Cohen, Sachin Chitta, Maxim Likhachev
SBPL Arm Planner with Adaptive Motion Primitives (Summer 2010)
Benjamin Cohen, Gokul Subramanian, Sachin Chitta, Maxim Likhachev
Inertial Aided SIFT for Time to Collision Estimation (Summer 2008)
Benjamin Cohen & Jeffrey Byrne
Reset It! (April Fools 2012 at Willow Garage)
The P.O.O.P. S.C.O.O.P. Project
Ring-Bearer-bot surprises Groom, delivers rings at wedding
After four years of working on the Jackbot with Daniel Benamy. He went off and got married! After a lot of lieing, I managed to get the car out of his bedroom with him thinking that my lab needs it to do some research. I decorated our Jackbot to be more wedding-appropriate so that we can surprise Daniel by having it deliver the rings to him (he thought the bride's young cousin would be bearing the rings). My friend, David, remote controlled the car down the aisle using my smartphone. It's not the straightest driving you've ever seen but he claims to have lost network connectivity for a bit in the middle there.
Our PR2 rockin' out on the piano and drums - Third Place Winner
Daniel Benamy and I finished in first place. It was our 4th year in the competition (we previously finished in 3rd twice). In addition to finishing in first place, the Jackbot is the only vehicle to ever complete the entire course in the 6 year history of the competition. (fun fact: our Jackbot cost less than a tenth of the cost of each of the second and third place robots :))
This is a video of our robot's software playing back the log files that we recorded during our official run at the 2009 competition.
During our testing for the MGC 2006, Daniel Benamy and I ran into a funny problem with our "street color" detection code that made shadows a problem for the Jackbot. We ended up resolving it before the competition and finishing in third place.