http://xenon.stanford.edu/~mquigley/ 2013-06-07T11:06:00-07:00 http://xenon.stanford.edu/~mquigley/ http://xenon.stanford.edu/~mquigley/lib/images/favicon.ico text/html 2011-03-08T11:00:55-07:00 http://xenon.stanford.edu/~mquigley/doku.php?id=amobo&rev=1299610855&do=diff High-performance General-Purpose I/O Large, complex robots have lots of sensors and actuators. Talking to them all can be tricky, particularly since many/most bus architectures use different OS libraries to talk to them, making it hard to write cross-platform device drivers. Fortunately, Ethernet is (almost) OS-neutral, has high-performance kernel drivers wherever it is found, and has more bandwidth than any other peripheral bus except the bleeding-edge stuff like Intel's Thunderbolt and USB3,… text/html 2013-05-30T20:20:17-07:00 http://xenon.stanford.edu/~mquigley/doku.php?id=home&rev=1369970417&do=diff Update 1/1/2013: I graduated! Now I'm with the Open Source Robotics Foundation. This page will go away at some point in the future; I'll leave it here for while just to preserve existing links. Here is my new page. ---------- Greetings. I am a PhD candidate in the Artificial Intelligence Laboratory of the Computer Science Department at Stanford University. My advisor is Professor Andrew Ng, and research work has included the Robot Operating System (ROS) and a variety of low-cost robotic sys… text/html 2011-02-11T21:41:09-07:00 http://xenon.stanford.edu/~mquigley/doku.php?id=inkscapekerfcorrection&rev=1297489269&do=diff This page is only tested on Ubuntu Lucid (10.04) 64-bit, as of 11 August 2010. First, get ready to compile inkscape from source: sudo apt-get install build-essential autoconf automake intltool libglib2.0-dev libpng12-dev libgc-dev libfreetype6-dev liblcms1-dev libgtkmm-2.4-dev libxslt1-dev libboost-dev libpopt-dev libgsl0-dev libaspell-dev libpoppler-dev libpoppler-glib-dev libgnome-vfsmm-2.6-dev libssl-dev libmagick++9-dev libwpg-dev bzr text/html 2011-02-11T21:43:13-07:00 http://xenon.stanford.edu/~mquigley/doku.php?id=irobotcreate&rev=1297489393&do=diff iRobot Create, Deluxe Edition We built a few add-ons for the iRobot Create to allow it be used as a drop-in replacement for more expensive robots in the ROS framework. Mechanical The iRobot Create has a few mounting holes on the back side of it. I designed a lasercut wooden box that bolts to these holes, and has mount points for the other stuff we need. text/html 2011-02-11T21:43:59-07:00 http://xenon.stanford.edu/~mquigley/doku.php?id=locloc&rev=1297489439&do=diff Low-cost Localization My system is distributed as a ROS package in the Stanford AI Lab (SAIL) ROS package repository sail-ros-pkg.svn.sourceforge.net . I don't currently have a scalable way to distribute my test data files, but let me know if you want access and we'll figure something out. The next paragraphs describe how to run the system on test data to produce a localization estimate which uses WiFi sniffs and computer vision. text/html 2012-01-07T16:02:35-07:00 http://xenon.stanford.edu/~mquigley/doku.php?id=papers&rev=1325980955&do=diff Papers demonstrations text/html 2012-02-16T10:41:13-07:00 http://xenon.stanford.edu/~mquigley/doku.php?id=projects&rev=1329417673&do=diff Low-cost Manipulators I believe that the cost of human-scale and human-safe manipulators is a major impediment to progress in widespread, real-world deployment of robots. Not only are many deployment scenarios out of the question with current state-of-the-art arms (which are often well over $100K), but even research itself is limited to a small number of institutions where manipulators are time-shared between researchers. I am actively working on creating low-cost, human-safe manipulators whic…