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

Flexible Automated Workcell: Industrial Assemblies

In this new demo, the robotic workcell is used as a single unit capable of recognizing and performing assembly tasks. Vision sensors identify input "empty" assemblies and direct the robotic arms to work cooperatively in putting the pieces together and exporting a finished product. The first assembly contains a notched piece of wood with four small blocks that fit neatly into the notches. The second assembly involves a piece of hard foam with holes into which fit four bolts. The assemblies and parts are not in a designated position - instead the overhead camera computes their locations each time the parts are assembled. See the video here - workcell_assembly.avi (34M)


Available for download and viewing here is our demonstration video featuring three cooperative robotic projects. Download robotdemo.avi (about 26M). Project descriptions can be read below.

Follow the Leader

In this demonstration, the overhead-mounted Cognex vision system communicates to the robots where a block of wood is located in the workspace and they then pick it up cooperatively. One robot then moves a millimeter to one side. The other robot senses the motion through the ATI Force/Torque Sensor attached to its end effector and moves a millimeter to compensate for the motion. Using this step-wise procedure, one robot effectively leads the other across the workspace.

Cooperative Work

In the first part of this demonstration, the robots work together to jointly assemble a nut and bolt. In the second part, one robot picks up a rod and hands it to the other robot, which replaces the rod in its initial position. This is repeated a few times.


Here the robots act out a quick boxing match. No robot was harmed in the filming of this video.


Lego Mindstorms

These demonstrations show various projects implemented using the labs' RIS kits. The first featured invention is a conveyor belt sorting machine that distinguishes between green and yellow "packages." The second demonstration features a pair of purely reactive mobile robots interacting within a closed arena. Download legodemo.avi (about 16M)


Mobile Micro Robots

This demonstration shows the lab's two mobile micro robots navigating through an obstacle course using simple reactive programs. Both robots are detecting the obstacles with infrared proximity detectors. The video also shows the robot's differences in size and speed.

These five videos demonstrate the capabilities of the tracked robot. Traversing an Obstacle (about 1M)

Navigating a Course (about 4M)

Crossing a Gap (316K)

Going over a Cliff (626K)

Moving Around (about 2M)


Swarm Robotics

These demonstration videos show swarm robotics in action. They robots were built using Lego Mindstorms. The first video shows the small mobile robots following a beam of light. Download (about 8M) The second video demonstrates communication between mobile robots with two of the robots mirroring the movements of the third. Download (about 8M) The third video demonstrates the swarm collecting and moving items from an arena. Download (about 3M)


Trouble viewing the video? Try downloading Microsoft Windows Media Player (PC) or Apple Quick Time (Mac)

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Any questions about Duke Robotics? Email Abhishek