Patrick Lancaster

  • Citations Per Year
Learn More
Robotic grasping has been hindered by the inability of robots to perceive unstructured environments. Because these environments can be complex or dynamic, it is important to obtain additional and precise sensing information just before grasping. This paper expands upon the pretouch modality by introducing a transmissive optical sensor. It can unambiguously(More)
The primary focus of this work is to examine how robots can achieve more robust sequential manipulation through the use of pre-touch sensors. The utility of close-range proximity sensing is evaluated through a robotic system that uses a new optical time-of-flight pre-touch sensor to complete a highly precise and sequential task — solving the Rubik's(More)
Optical depth cameras, including both time-of-flight and structured-light sensors, have led to dramatic improvements in robot sensing and perception. We propose the use of millimeter-wave (mmW) radar as an important complement to optical sensors. While the millimeter wavelengths of radar sensors do not support as high resolution as the nanometer wavelength(More)
The modular power converter designed for the Monterey Accelerated Research System (MARS), and recently successfully tested by the Jet Propulsion Laboratory (JPL) and the University of Washington, is a significant milestone in the development of regional cabled observatories. The ability to transmit up to 10kW reliably over long distances using 10kV direct(More)
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today’s high degree of freedom robot arms that link the head to the end-effectors. We present a novel framework combining pre-touch sensing and deep(More)
We first describe a robot that solves the Rubik’s cube using separate task and motion planning with sensor-enabled closed-loop execution. The task solver uses iterative deepening Astar to plan the sequence of cube moves. Then a special-purpose grasp planner and controller places the manipulator hands on the cube to execute the task plan. The task requires(More)
  • 1