J. Michael McCarthy

The analysis of cooperating robot systems

Mechanical hands, walking machines, and two armed robots are examples of cooperating robot systems that pose unique planning and control challenges. Using the technique of kinematic mappings we define the workspace of each robot as an algebraic manifold and examine the geometry of the intersection. The methodology provides a new planning and design tool for these systems.

Design of spatial mechanisms

Our computer aided design software "Sphinx" is in use in many research laboratories exploring the applications of a special class of spatial mechanisms, known as spherical linkages. We are exploring new theoretical and software methodologies for the design of general spatial mechanisms that perform robotic tasks. Virtual Reality is being explored as a means to address the severe visualization challenge posed by these systems.

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