Achievement

Dmitry Berenson has developed algorithms to enable a robot to assist humans in their home. He implemented and tested the Constrained Bi-directional Rapidly Exploring Random Tree motion planning algorithm. This algorithm enables a robot to grasp objects in cluttered environments. He has found ways to coordinate reaching with grasping. His framework for handling constraints allows his algorithms to plan for manipulation tasks that were previously unachievable in the general case, such as sliding and lifting heavy objects. He also developed ways to simplify interfaces for home robots. Dmitry has collaborated with Intel on this work.