Velin D. Dimitrov

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The DARPA Robotics Challenge (DRC) requires teams to integrate mobility, manipulation, and perception to accomplish several disaster-response tasks. We describe our hardware choices and software architecture, which enable human-in-the-loop control of a 28 degree-of-freedom ATLAS humanoid robot over a limited bandwidth link. We discuss our methods, results,(More)
A detailed observation of the sensory apparatus of Opisthioglyphe ranae (Frölich, 1791) cercariae was carried out. The species was determined on the basis of an experimental study of the life cycle and morphology of sporocysts, cercariae, metacercariae, and adults. In contrast to other species of the family Plagiorchidae, no papillae were present in the(More)
—This work presents a hierarchical navigation architecture and cascade classifier for sample search and identification on a space exploration rover. A three tier navigation architecture and inverse Jacobian based robot arm controller are presented. The algorithms are implemented on AERO, the Autonomous Exploration Rover, participating in the NASA Sample(More)
We describe the approach of Worcester Polytechnic Institute's (WPI) Robotics Engineering C Squad (WRECS)to the utility vehicle driving task at the Defense Advanced Research Projects Agency (DARPA) Robotics Challenge (DRC) Trials held in December 2013. WRECS was one of only seven teams to attempt the driving task, and the only team with an ATLAS robot to(More)
We present a cyber-physical system (CPS) testbed to enable the rapid development, testing, and deployment of assistive robotics technologies in the home of elderly individuals. We built a CPS testbed in a lab environment with initial capabilities allowing for the testing of both individual systems and collections of systems. The CPS testbed has(More)
This report represents the work of five WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review. Abstract This project improves the control mechanisms for a semi-autonomous wheelchair with an assistive robotic arm system, also(More)
This paper presents the Worcester Polytechnic Institute(WPI) and Carnegie Mellon Univer-sity(CMU) team approach for competing on the DARPA Robotics Challenge (DRC) using the humanoid Boston Dynamics Atlas robot. An overview and analysis of the hardware and software architecture is described with emphasis on two of the challenges tasks, Wall and Drill. The(More)
We present the design evolution of robotic prosthetic hands at WPI over the last couple years. Following a user-centered design approach, we have identified a series of requirements that good prosthetic hand designs should have. We describe in detail the mechanical, electrical, and software subsystems of each hand, and the relative advantages and(More)