Baxter is a robot for manufacturing from Rethink Robotics. He is a humanoid robot with two 7-axis arms, integrated cameras, sonar, torque sensors, and direct programming access via a standard ROS interface.

Current research: Neural Networks and Mild Traumatic Brain Injury

Rover Hawk

The Rover Hawk is the winner of the 2013 NASA RASC-AL Robo-Ops Competition, build by a team of undergraduates from a Robotics I class led by three graduate students. The Rover Hawk is powered by a Mini-ITX with a quad core i7, 16GB RAM, and Samsung 840 Pro SSD. A MiniBox is used for voltage regulation from 12v batteries, two Roboteq MDC2230C motor controllers, three 12v mil-spec Lithium Ion batteries, 4 windshield washer motors to control the wheels, and 4 American digital optical encoders, in custom aluminum motor mounts. 3 Logitech HD cameras, 2 on the fiberglass mast (actuated by a 2 ft-lb robotics servo), and one on the arm (able to see through the gripper). The arm and gripper are custom made from aluminum, designed in SolidWorks. Click here to see a video of the Rover Hawk in action.


Margo is a VGo Communication's VGo telepresence robot, an updated version of Hugo. Margo has been augmented with a fitPC-2 running Ubuntu, Hokuyo UGH-08 laser, Sharp IR distance sensor, MicroStrain 3DM-GX3-45 intertial measurement unit, Microsoft Kinect, Logitech C190 webcam, Phidget LED display and adapter, Phidget 1019 interface board, Phidget 1101 adapters, USB hub, Minibox car power supply regulator, cooling fan, and a tri-color LED lit plexiglass Hawaiian t-shirt.

Current research: Robotic Telepresence


Hugo is a VGo Communication's VGo telepresence robot. We have augmented Hugo with a Beagleboard xM-B with an ARM Cortex -A8 1GHz processor & 512 MB RAM running Ubuntu 10.10, a PhidgetSpatial 3/3/3 board, a PhidgetInterfaceKit, a MiniBox DCDC-USB power converter, a Logitech webcam, and an LED lit plexiglass necktie for status indication.

Current research: Robotic Telepresence


Junior is an ATRV-Jr research platform that was manufactured by i-Robot. We use Junior in our Urban Search and Rescue interface research. We have made the following hardware and software modifications to Junior: Front and Back Canon VC-C4 PTZ Cameras, Carbon Dioxide Sensor, Software control of 12 Volt devices, 4-port Simultaneous Framegrabber, FLIR Thermal Imager, 802.11a/g Wireless, Intel Core 2 Duo with 4GB of DDR2 RAM, and Linux Kernel 2.6.1.

Current research: Autonomous Robots and Trust and Multi University Research Initiative: SUBTLE

Manus ARM

The Manus Assistive Robotic Manipulator (ARM) is a commercially available wheelchair mounted robot arm developed by Exact Dynamics. It was designed to assist with general activities of daily living and can function in unstructured environments. The Manus ARM is a 6+2 degree of freedom arm that can be controlled in both joint and Cartesian space by a keypad, joystick, single switch, or computer.

Current research: Neural Networks and Mild Traumatic Brain Injury

Past research: Visual Control Interface of a Wheelchair Mounted Robotic Arm for Cognitively Impaired Wheelchair Users


Previously named Wheelesley, Wheeley is a power wheelchair that was originally used by Holly Yanco during her PhD. research. We replaced the original Motorola 68332 with a full Pentium 4 2.8Ghz Mini-ITX PC. We also upgraded the motor control to a RobotEQ AX2850 with high resolution optical encoders.

Past research: Wheelesley Project Page


Tragus is a VGTV (Variable Geometry Tracked Vehicle) and is a tele-operated, tethered robot. It is capable of changing its shape, depth rated to 100 feet, and equipped with a color zoom camera, two-way audio, and lights. Sensors and small equipment can be carried by Tragus into search areas.

Past research: Situation Awareness for VG Robots


Zeke is an Inuktun VGTV 3000 on loan from American Standard Robotics. He has a camera, lights, microphone, speaker, and can carry many small sensor payloads. His tank-like chassis design allows him to change shape or "polymorph" into several useful configurations. He is used for urban search and rescue research and educational outreach.


Morpheus is a Pioneer 3 robot which was manufactured by MobileRobots ( formally ActivMedia ). He is a standard Pentium 3 Linux box with a full sonar ring, SICK laser, and a Canon VC-C4 PTZ camera. He is currently being used for studying levels of autonomy.


Trinity is a Pioneer 2 robot. She is very similar to Morpheus. We primarily use her for the graduate Mobile Robotics class and the undergraduate Robotics 2 class.


Neo is a Pioneer 3 robot, also manufactured by MobileRobots and similar to Morpheus. He is a standard Pentium 3 Linux box with a full sonar ring and a Canon VC-C4 PTZ camera. He was used in the Mobile Robotics class.

Personal Exploration Rover

The PER ( Personal Exploration Rover ) was created at CMU. It is a simple replica of a Mars Rover used by NASA. It has an infrared distance sensor and USB-CAM mounted to a pan-tilt head for sensing the environment. Its brain is a Stargate Gateway SPB400 embedded Linux system.


This fleet of Roomba robots help keep the carpets in our lab clean. The white one is programmable.