Contact: Prof. Peter K. Allen (

Current Research Projects

Multimodal Brain Computer Interface for Human-Robot Interaction
Shape Completion Grasping
Dexterous Manipulation Using Predictive Thin-Shell Modeling
Assistive Robotics: Brain Computer Interfaces for Grasping
Surgical tool Tracking
In-Vivo Surgical Imaging System
IREP: Insertable Robotic Effector Platform
Computational Tools for Modeling, Visualizing and Analyzing Historic and Archaeological Sites (NSF ITR Project)
AVENUE: Autonomous Vehicle for Exploration and Navigation in Urban Environments
GRASPIT! A Versatile 3-D Grasping and Simulation Tool
Protein Streak Seeding
Protein Crystal Mounting
Visual Servoing: A Partitioned Visual Feedback System
Integration of Vision, Force and Tactile Sensing for Grasping

Past Research Projects

Tracking and grasping moving objects
Active Uncalibrated Visual Servoing
Eye-hand control
Machine Vision Planning
Autonomous Precision Manipulation
Haptic Sensing
Object-Space Teleoperation
Human Dexterity and Motor Control
8-Degree of Freedom Robot
Interactive Tutorials for Machine Vision
Left Ventricle Assist Device Simulator