Robotic platform
Our custom robotic platform is built around a novel two-surface wood
housing, whose upper surface serves as a workspace.
A 5-DOF manipulator arm is mounted on the upper housing
surface while a 1-DOF pendulum arm is mounted on the lower
housing surface.
A head containing two cameras with individually controllable pan and tilt is
mounted on the pendulum arm which allows the cameras to rotate 180 degrees
around the workspace to image that space from a variety of viewpoints.
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Endogenous sensors for fine motor control
A hand with two independently controllable fingers is mounted on the
manipulator arm and contains a number of endogenous sensors in addition to the
exogenous head-mounted cameras: a palm mounted camera, an ultrasonic range
sensor, a computer-controllable laser pointer to assist depth estimation, and
two independent force sensors on each finger, one on the inside surface and one
on the fingertip.
These endogenous sensors allow fine motor control through servoing.
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