Kyle DuFrene - Physical Robotic Manipulation Test Facility

Physical Robotic Manipulation Test Facility

The Physical Robotic Manipulation Test Facility (PRMTF) is composed of multiple sensorized, resettable testbeds designed to advance the field of grasping and manipulation. There are three testbeds, the Door Reset Mechanism, Drawer Reset Mechanism, and Grasp Reset Mechanism. Each are explained below. The project is a collaboration between Oregon State University and University of Massachusetts Lowell.

I started working on the project as an undergraduate senior, designing and building testbeds in multiple areas including: the mechanical design, prototyping, and assembly, PCB design and wiring, and the software packages using Python and Robot Operating System (ROS).

As a graduate student, I now oversee the operations of the project at OSU. Physical design of the testbeds is largely finished, and publications have been submitted (more here). I have learned and/or applied many skills over the course of this project, including:

Programming/software: Python, ROS, Docker, Linux, Git
Robotics: ROS, 7 DOF arm control and planning, URDF/SDF
Mechanical: CAD and CAM, prototyping, machining, 3D printing
Electrical: PCB design, wiring/circuits, microcontrollers (Arduino), Raspberry Pi

GRM.MOV

See the video to the left for the Grasp Reset Mechanism in action. In this video, we demonstrate the capability to automatically run grasping trials with various objects.