Page 445 - Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World

420 SUGGESTED COURSE PROJECTS

• Two-legged locomotion among obstacles; same with gravity
• Same with dynamically stable motion
• Multi-legged locomotion
• Advanced sensing (vision, range sensing) and redundancy
• Effect of joint limits in redundant systems; handling potential self-
collisions of robot links

Computer Simulation, Real-Time Animation
10. Computation and visualization of configuration space of an arm manipu-
lator.
11. Animation of motion planning algorithms for locomotion.
12. Real-time human-centered systems (blending human and machine intelli-
gence in physical and virtual tasks):
• Human-assisted interaction between multiple mobile robots (e.g., top
view control of C-space or W-space); 2D and 3D tasks; same for a
single mobile robot; for an arm manipulator
• Same for advanced versus simple (tactile) sensing.
• Human-assisted virtual part assembly/disassembly.
13. Taking advantage of advanced sensing for arm manipulator motion
planning: For example, design an arm manipulator version of VisBug
algorithms.
14. Simulation of 3D vision-based underwater exploration.
15. Motion of two arms sharing common space: each with two links; each
with three links.
16. Implementation of motion planning algorithms; animation of robot motion.
17. Development of modular robot motion simulation software.

Experimental Work
Projects in this area tend to vary greatly and to be highly individualized. Examples
below are shown only to give a taste of possible topics.
18. Experimental validation of, using a robot available for this work, one or
more sensor-based motion planning algorithms.
19. Experimental study of a few existing sensing devices for the choice of
technology that satisfies in the best way a given motion planning sys-
tem. Examples: infrared, ultrasound, capacitance, electromagnetic, and so
on, sensors.
20. Sensor/processing systems for detecting surrounding objects and doing
motion planning.
21. Experimental analysis of human performance in spatial reasoning tasks:
teleoperation skills; motion planning skills; effects of training.