Tim Bretl: Three surprises and a story of prison education | CMU RI Seminar

23 March 2019

share this:

Link to video on YouTube

Abstract: “I will talk about three results that surprised me. First, I will show that the free configuration space of an elastic wire is path-connected, a result that makes easy a manipulation planning problem that was thought to be hard. Second, I will show a linear relationship between stimulation parameters, skin impedance, and sensation intensity in electrotactile stimulation. This result leads to algorithms that keep sensation intensity constant despite large variability in skin impedance, eliminating a longstanding barrier to practical use of electrotactile stimulation for sensory substitution and haptic feedback. Third, I will show you several obvious ways to use fiducial markers – which everybody knows will improve the performance of Structure-from-Motion (SfM) algorithms for vision-based 3D reconstruction – that work poorly. Then, I will show you a simple but less obvious way to use them that seems to work well. I will also talk about my experience teaching two engineering courses – one on robotics, one on control systems – to students incarcerated at Danville Correctional Center, an Illinois state prison. I will tell you why I did it and what I learned.”

John Payne

Related posts :

ROS Awards 2022 results

The intention of these awards is to express recognition for contributions to the ROS community and the development of the ROS-based robot industry, and to help those contributions gain awareness.
02 July 2022, by



Origin Story of the OAK-D, with Brandon Gilles

Brandon Gilles, the founder of Luxonis and maker of the OAK-D, describes the journey and the flexibility of the OAK-D line of products
01 July 2022, by

The one-wheel Cubli

Researchers Matthias Hofer, Michael Muehlebach and Raffaello D’Andrea have developed the one-wheel Cubli, a three-dimensional pendulum system that can balance on its pivot using a single reaction wheel. How is it possible to stabilize the two tilt angles of the system with only a single reaction wheel?
30 June 2022, by and

At the forefront of building with biology

Raman is, as she puts it, “a mechanical engineer through and through.” Today, Ritu Raman leads the Raman Lab and is an Assistant Professor in the Department of Mechanical Engineering.
28 June 2022, by

Hot Robotics Symposium celebrates UK success

An internationally leading robotics initiative that enables academia and industry to find innovative solutions to real world challenges, celebrated its success with a Hot Robotics Symposium hosted across three UK regions last week.
25 June 2022, by

Researchers release open-source photorealistic simulator for autonomous driving

MIT scientists unveil the first open-source simulation engine capable of constructing realistic environments for deployable training and testing of autonomous vehicles.
22 June 2022, by

©2021 - ROBOTS Association


©2021 - ROBOTS Association