Sponsor: Office of Naval Research
ONR Award Number: N00014-22-1-2114
Project Lead: Geoff Hollinger (OSU)
Project Dates: January 2022-January 2026
The focus of this project is on novel fundamental research to enable cooperative robotic manipulation in challenging environments. The project consists of three major technical thrusts: (1) reactive tactile sensing and grasping, (2) multi-arm coordination and communication, and (3) semantic command and control decision support system design. Together, the project envisions a system of multiple semi-autonomous manipulator arms capable of performing complex manipulation tasks, such as hull cleaning, pier maintenance, and environmental sampling, in complex environments with poor visibility and high levels of sensing noise.
Publications & Presentations
2024
F. Aderinto, J. Bhagat Smith, M.-R. Giolando, P. Baskaran, and J. A. Adams, “Improving Human-Robot Team Transparency with Eye-Tracking based Situation Awareness Assessment,” HRI ’24: Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, Pages 177 – 181.
S. Buchmeier, “Analyzing Human Grasping Decisions to Support Shared Autonomy for Grasping Underwater Objects”. MS Thesis, Oregon State University, 2024.
Skand Peri, Iain Lee, Chanho Kim, Li Fuxin, Tucker Hermans, and Stefan Lee. “Point Cloud Models Improve Visual Robustness in Robotic Learners.” International Conference on Robotics and Automation (ICRA), 2024.
K.Y. Puente, M. Sadler, C.G. Wilson, and J.R. Davidson, “Can novice supervisors determine successful from unsuccessful grasps from tactile sensing?”, in IEEE Int’l Symposium on Robot and Human Interactive Communication (RO-MAN), Late breaking report, Pasadena, CA, Aug. 2024, 4pp.
R. Singh and G. Hollinger, “Motion-aware underwater robotic grasping,” in Proc. IEEE OCEANS Conference, Halifax, Canada, September 2024.
2023
Satyam Bhawsinghka, “Hydraulically modulated silicone knuckles for variable control of joint stiffness and proprioception”, MS Robotics, Oregon State University, 2023.
C. Votzke, “Stretchable Electronics for Wearable Devices and Soft Robotics,” PhD Thesis, Oregon State University, 2023.
2022
A. Agrawal, D. Chang, and G. Hollinger, “Task and motion planning for collective robotic construction,” in Proc. IEEE International Conference on Robotics and Automation Workshop on Collective Robotic Construction (ICRA), Philadelphia, PA, May 2022.