11.22: To investigate the importance of volume of feasible subspaces in mixed-integer optimization, we have written a paper with Prof. Christensen and submitted to ICAPS 2016.
08.04: I have been revisiting fundamental AI concepts and implementing majority of the algorithms (25+) in the Russell & Norvig book. Check out the code.
06.16: One of my colleagues, Jon Scholz, using our Golem Krang platform demonstrated learning capabilities for a challenging planning domain. See the video.
04.21: Our journal paper with Prof. Stilman titled "Autonomous design of functional structures" is to be published next month!
03.13: Successfully presented my thesis proposal titled: "Planning in Constraint Space for Multi-body Manipulation Tasks"
01.24: Our paper with Ana Huaman, Heni Ben Amor and other colleagues on grasping, "Exploiting symmetries and extrusions for grasping household objects", got accepted to ICRA 2015.
11.07: Presented our collaboration with Prof. Stilman in the memorial symposium.
07.15: Busy month. Presented a paper in Morocco for ISER15, travelled back to Turkey, and then to California for RSS15!
05.17: Our paper, "Incorporating Kinodynamic Constraints in Automated Design of Simple Machines", is accepted to IROS 2014.
05.13: Our submission to RSS 2014 workshop CDMR accepted.
05.06: My advisor and dear friend Professor Mike Stilman passed away. Rest in peace…
04.13: "Autonomous Realization of Simple Machines" got accepted to ISER 2014! Watch the video.
01.15: The video submission, "Robots Using Environment Objects as Tools: The ‘MacGyver’ Paradigm for Mobile Manipulation" got accepted to ICRA 2014!
11.07: Krang team gave a demo to Discovery Channel on the MacGyver project.
05.08: Presented my constraint space work in ICRA, Karlsruhe, Germany!
04.10: Passed Ph.D. quals.
01.07: ICRA 2013 paper, "Planning in Constraint Space: Automated Design of Functional Structures", got accepted!
10.09: Our work with ONR on repurposing tools creatively has been publicized with Golem Krang.
08.20: I will be TA'ing Robot Intelligence - Planning given by Mike Stilman this fall:
05.28: Frank Dellaert is presenting our planar segmentation paper in CRV 2012, Toronto. Here is the link to the slides.
05.15: Started working with Mike Stilman officially.
03.16: CRV paper accepted!
02.12: Submitted "Planar Segmentation of RGBD Images using Fast Linear Fitting and MCMC" to CRV 2012.
01.22: Created this website.
A Segway-like balancing robot which weighs more than 140 kgs (300 lbs) and can reach a height of 1.90m (6' 2''). The size of the robots allows dynamic manipulation, that is, leveraging its weight and momentum to move heavy objects. See this video where Krang manipulates two obstacles, 100 kgs (220 lb) and 40 kgs (90 lb), to clear a doorway and build a bridge in a search and rescue scenario.
The Krang is the main robot that leads the MacGyver project which focuses on using random objects in the environment to overcome challenges. Imagine you are in a search and rescue scenario. There are bunch of bricks, broken wooden plates and soft ply wood, and you need to get out of a blocked door or rescue someone under some rubble. What objects would you use? How?
The main collaborators on the Krang/MacGyver projects are the Ph.D. students Munzir Zafar, and Saul Reynolds-Haertle. This semester, the project involves the following undergraduate students: Peng Hou, Greg Patrick and Xinyan Yan.
Robot model If you'd like to obtain a 3D-mesh of the robot, you can do so here and visualize it on your iPhone/iPad/Android device with the MeshLab application.
Tutorial If you are a new undergraduate and master student, I have prepared a tutorial that explains the basic tools we use in the lab such as git, C++, debugging (gdb), compiling (CMake/g++), plotting (Matlab/Octave), documentation (Doxygen/latex) and etc. file and send me and Mike Stilman an email for the password.
Note the official project website can be found here.