Robert A. MacLachlan

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Portable mobile robots, in the size class of 20 kg or less, could be extremely valuable as autonomous reconnaissance platforms in urban hostage situations and disaster relief. We have developed a prototype urban robot on a novel chassis with articulated tracks that enable stair climbing and scrambling over rubble. Autonomous navigation capabilities of the(More)
The Navlab group at Carnegie Mellon University has a long history of development of automated vehicles and intelligent systems for driver assistance. The earlier work of the group concentrated on road following, crosscountry driving, and obstacle detection. The new focus is on short-range sensing, to look all around the vehicle for safe driving. The current(More)
We describe the design and performance of a hand-held actively stabilized tool to increase accuracy in micro-surgery or other precision manipulation. It removes involuntary motion such as tremor by actuating the tip to counteract the effect of the undesired handle motion. The key components are a three-degree-of-freedom piezoelectric manipulator that has(More)
In this paper, we describe experiments on semi-autonomous control of a small urban robot. Three driving modes allow semi-autonomous control of the robot through video imagery, or by using partial maps of the environment. Performance is analyzed in terms of maximum speed, terrain roughness, environmental conditions, and ease of control. We concentrate the(More)
The detection and tracking of moving objects is an essential task in robotics. The CMU-RI Navlab group has developed such a system that uses a laser scanner as its primary sensor. We will describe our algorithm and its use in several applications. Our system worked successfully on indoor and outdoor platforms and with several different kinds and(More)
Position-sensitive detectors (PSDs), or lateral-effect photodiodes, are commonly used for high-speed, high-resolution optical position measurement. This paper describes the instrument design for multidimensional position and orientation measurement based on the simultaneous position measurement of multiple modulated sources using(More)
Providing drivers with comprehensive assistance systems has long been a goal for the automotive industry. The challenge is on many fronts, from building sensors, analyzing sensor data, automated understanding of traffic situations and appropriate interaction with the driver. These issues are discussed with the example of a collision warning system for(More)
In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push beyond the current state of practice by integrating imaging and robot-assisted tools. This paper demonstrates control of a handheld tremor reduction micromanipulator with visual servo(More)