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)
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)
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)
BACKGROUND AND OBJECTIVE In laser retinal photocoagulation, hundreds of dot-like burns are applied. We introduce a robot-assisted technique to enhance the accuracy and reduce the tedium of the procedure. MATERIALS AND METHODS Laser burn locations are overlaid on preoperative retinal images using common patterns such as grids. A stereo camera/monitor setup(More)
CMU Common Lisp is an implementation of that Common Lisp is currently supported on MIPS-processor DECstations, Sparc-based workstations from Sun and the IBM RT PC, and other ports are planned. All architectures are supported under Mach , a B e r k eley Unix 4.3 binary compatible operating system. The Sparc is also supported under SunOS. The largest single(More)