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The goal of my research is to create autonomous agents that sense, plan, and act in real and/or virtual worlds. My work focuses on designing architectures and algorithms to represent, sense, plan, control, and render motions of physical objects. One of my current projects focuses on the structure and motion of proteins.Other Interests: Specific topics I am interested in include: motion planning in the presence of multiple constraints (obstacle avoidance, maintenance of equilibrium, as well as kino-dynamic, visibility, and contact constraints), assembly sequence planning, making decisions under sensing and control uncertainty, construction of 3-D geometric models of complex environments, visual tracking of rigid, articulated and deforming objects, and reasoning in multiple-agent worlds. Applications include: robot-assisted medical surgery, integration of design and manufacturing, graphic animation of digital actors, study of molecular motions (folding, binding). My current projects study legged robots navigating on steep terrain, sensing and manipulation of deformable objects, structure and motion of proteins, and surgical simulation.
Member since May 14, 2008
Member of 1 project
Member of 1 project