Recent Visitors

Dr. Arvind Raman, Purdue University

Dr. Sachin Goyal, Mechanical Engineering, University of Michigan

Prof. Brian Mann, Mechanical & Aerospace Engineering, University of Missouri

Robert J. Webster III, Ph.D. Candidate in Mechanical Engineering, Johns Hopkins University

Prof. Scott David Kelly, Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign

Dr. S. C Saxena, Director, IIT Roorkee

Jan 2007-Professor Devendra P. Garg honored in New Delhi, India, by being presented the Hind Rattan (Jewel of India)
Award by the Non-Resident Indians (NRI) Welfare Society of India.

Oct 2006 - Acquired 8 Khepera II robots from K-team corp.

Fall 2006 - Abhishek receives his MS degree in Mechanical Engineering

Fall 2005 - Abhishek joins the RAMA Lab as a MS student and Research assistant

Jan 2005 - Brian Dieckmann joins the RAMA Lab as Pratt Undergraduate Fellow

Nov 2004 - Dr. Manish Kumar presented three jointly coauthored research papers at the 2004 IMECE in Anaheim, CA

Nov 2004 - Dr. Manish Kumar joined the RAMA Lab as a Post doctoral Associate

Oct 2004 - Dr. Garg received the Scientific Research and Leadership Award at the 2004 Heritage India Festival

Sept 2004 - Dr. Garg delivered invited lectures on robotics at the Indian Institute of Technology/Roorkee and Indian Institute of Technology/ Delhi, India

Aug 2004 - Ram Parimi recieved his M.S. degree in Mechanical Engineering

July 2004 - Paul Nesline is the new webmaster for the RAMA LAB

June 2004 - Dr. Prem Vrat, Director of Indian Institute of Technology Roorkee visits the lab

June 2004 - Dr. Masayoshi Tomizuka, Director of the Dynamic Systems and Control Program at NSF visits the lab

Summer 2004 - Nsi Obotetukudo from Case Western Reserve University joined the RAMA Lab for 10 weeks under the NSF/REU Program

Summer 2004 - Adam Schmelzer joined the RAMA Lab as Research Assistant

May 2004 - Manish Kumar received his Ph.D. degree in Mechanical Engineering

May 2004 - Congratulations to Brian Schaaf and Chris Dillenbeck on their graduation with BSE degrees

April 2004 - William Chandler Salinger joins the lab as an Intern for four weeks

April 2004 - Ram Parami presented "Intelligent Control for Mobile Robot Navigation" in the Graduate Seminar Series

Internet Control

Web telerobotics is a new and rapidly emerging field of telerobotic research. It involves the human control of a robot where the human is not able to experience the robot’s actions directly. The most promising new area is the use of web devices as an aid in research and curricular activities at educational institutions.

The primary motivation for this research was to integrate and control industrial grade robots and various auxiliary devices through the web. Java RMI with C++ and Linux as platform provided a strong structure for the particular application of web based robots.

An interface was designed and formulated which provided the user with functionalities, such as moving the robot arms linearly to specified coordinate offsets, opening and closing the grippers, rotating the tool (gripper) about the three axes (x, y and z), accessing the F/T values, and moving the conveyer and the indexing table.

The system was tested by running a coordination experiment in which the two robots held a hacksaw and used it to cut through a piece of wood along a marked line while keeping the cutting saw at a horizontal level. Once the wood was cut, the robots recognized the change in forces on the saw and placed the saw back in its holder. The experiment validated proper functioning of the designed interface and the control architecture.

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Any questions about Duke Robotics? Email Abhishek