Data, Software, and Hardware


Cody and DARCI:

During my Ph.D, I actively worked on 'Cody' and 'DARCI'. Both 'Cody' and 'DARCI' were robots developed by Meka Robotics (Now, a part of Google). Cody is a statically stable mobile manipulator weighing roughly 160 kg. The components of the robot are: Meka A1 arms, a Segway omni-directional base and a Festo 1-D.O.F. linear actuator. The arms consist of two 7-D.O.F. anthropomorphic arms with series elastic actuators. Cody has a force sensitive skin across its entire forearm. The skin consists of a capacitive pressure sensor array. DARCI is the next generation of Cody with arms that can have a larger range of joint stiffness values. The robot has two 6-DOF F/T sensors at its wrists.


I have also worked on PR-2 during my Ph.D, albeit, not as actively as on Cody and DARCI. It was developed by Willow Garage. It also has two 7-DOF arms and a gripper on each arm, with an omni-directional base, a head, and a spine. Its arms are much bulkier than Cody or DARCI, and thus may not be very effective for manipulation in highly cluttered environments.

7-DOF Custom-built Robotic Arm:

I worked on a custom-built 7-DOF Robotic Arm during my time in KIST, South-Korea. The motors were coupled with the links using mechanical gears of around 100:1 ratio.

3-DOF Custom-built Robotic Arm:

I worked on a custom-built 3-DOF Robotic Arm during my internship at Disney Research, LA. This robot used a cable-pulley arrangement to actuate the joints using Maxon motors. It also had a 6-axis F/T sensor at the wrist.


My work on Dusty is limited to some prototyping as well as running demos for picking objects up from floors. Dusty is a teleoperated mobile robot built on iRobot Create platform in Healthcare Robotics Lab, GT for fetching objects. It has a custom built scissor-lift on top of the platform to raise the picked objects to a wheelchair height. Below, you will see me teleoperating Dusty using a joystick, to pick up a badge from floor and deliver it at a raised height to someone at British Consul-General's Residence in Atlanta.

Handheld Data-Acquisition Device and 1-DOF Custom-built Robots:

Josh and I have built one handheld data-acquisition device and two 1-DOF robots for easy data collection where it is difficult for bulkier robots to go. Each device / robot has a multimodal sensor module attached at the end-effector. The sensor module consists of force, active and passive thermal, and contact vibration sensing capabilities. One robot also has a physical mass-spring-damper attached at its end. They use Arduino for communication. More details here.

Phantom Premium:

I have extensively used Phantom Premium as a haptic master with various virtual environments / 1-DOF slave manipulators for teleoperation experiments during my time in KAIST, South Korea. We did the interfacing using Open Haptics toolkit by Sensable.


Stretchable Fabric-based Force Sensing Skin:

I have extensively used our developed stretchable fabric-based force sensing skin for various robot experiments as well as for analyzing the sensor characteristics. We have publicly released the open-hardware design as well as the interfacing code here.

Stretchable Fabric-based Multimodal Skin:

The Fabric-Based Force and Thermal Sensing Skin has three sensing modalities: force, self-heated thermistors for active thermal sensing, and unheated thermistors for passive thermal sensing. The skin has 13 force sensing taxels, 1 at the end and 12 around the circumference. Each taxel has includes two active and two passive thermal sensors as shown in the picture. More details here.