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)
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)
We present our preliminary results from the design process for developing the Worcester Polytechnic Institute's personal assistance robot, FRASIER, as an intelligent service robot for enabling active aging. The robot capabilities include vision-based object detection, tracking the user and help with carrying heavy items such as grocery bags or cafeteria(More)