Robotics Research Group : The University of Texas At Austin

Welcome to the homepage of the Robotics Research Group (RRG) at The University of Texas at Austin, Mechanical Engineering Department. We are dedicated to the advancement of open architecture intelligent machine technology with a primary focus on robotics. In existence since 1985, the RRG now occupies more than 16,000 sq. ft. of office and laboratory space in the Microelectronics Research Building, which is on UT’s J.J. Pickle Research Campus.

The aim of the RRG is to conduct basic and applied research in the area of open architecture mechanical systems. For this, the RRG has three major research threads. The first is the development of high performance modular actuators. The second is the development of high dexterity and precision robotic manipulators and their associated software (OSCAR). The third is the development of integrated workcells and software architectures for workcell integration and operation. These research threads are illustrated below along with their associated research topics.



Intelligent Actuators Design & Architecture Component Technologies Actuator Testbeds Condition-Based Maintenance Intelligence & Real-Time Software	Manipulation Software Manipulator Design Decision Making & Criteria Process Modeling and Control OSCAR Software Framework Teleoperation and Automation Simulation & Education Mobile Manipulation Force Control	Integrated Workcells Software Engineering Metrology Small Automation & Configuration Management Obstacle Avoidance and Motion Planning Demos and Applications

The RRG is headed by Prof. Delbert Tesar along with Chief Scientist Dr. Chetan Kapoor, Program Manager, Dr. Mitch Pryor and Resource Manager, Ms. Janie Terrel. It averages about 17 graduate and 3 undergraduate students who are divided into four teams:

• Actuator Intelligence and Software
• Actuator Components and Design
• System Software Design and Operation
• Application and Manufacturing Systems

The RRG is supported by funding from various agencies and industry, including THRC, DOE, ONR, DARPA, THECB, NASA, etc. Primary application areas for RRG research have been Decommissioning and Dismantlement, Glovebox Automation, Space Robotics, All Electric Ship, Aircraft Carrier Elevators, Aircraft Actuators, etc.

This website will provide a brief overview of our program, a summary of our areas of research, a list of publications, reports, and white papers, an educational section on robotics, and an array of external links and recommended reading.

We hope you find our site informative and entertaining. If you have any further questions please feel free to contact us directly.


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