It runs from an onboard 486DX2 66MHz PC, and can operate fully autonomously or communicate through Ethernet to the local network. Future plans include adding a home-built robotic arm and SoundBlaster sound. Built entirely by RWI Inc, it has two 486DX4's and a Gateway Handbook for interface and display onboard. One topic that has received particular emphasis is the theoretical and experimental investigation of the behavior of manipulators containing both flexible links and prismatic joints. This research has encompassed issues related to the design and construction of a prismatically jointed flexible manipulator, the modelling and parameter determination for such a manipulator, the sensing of the position of selected points of the flexible links, and the development and evaluation of control algorithms for regulating the effects of link flexibility.
Information is available on personnel, facilities, research, and publications.
The Caltech robotics home page includes information about laboratory personnel, current research projects and resources, and access to several on-line publications. Information can be found on personnel, publications, and facilities, and related research and commercial systems. Since 1984 we have been building systems for autonomously driving in the unstructured outdoor environment. The NavLab and NavLab II vehicles combine sensing, sensor interpretation, planning, control, and testbed vehicles to create integrated navigation systems. Our work is a central part of the ARPA Unmanned Ground Vehicle program.