Yochan Lab


Kramer is a new one armed mobile robot from Fetch Robotics. We are currently using it in our work on making robots show explainable or comprehensible behaviors in a human-robot teaming scenario [link to paper].


Sprinkles is a robot based on PeopleBot mobile platform that is designed to help with office tasks such as sensing and delivery. It can take simple requests such as "Deliver this Room 566", autonomously plans a path to get to the destination. It is currently deployed on the 5th floor of the CS department. Sprinkles interacts with humans by utilizing facial recognition software, voice prompts and speech recognition, as well as touch input from an onboard web application. It uses a Microsoft Kinect sensor and a built-in ultrasonic sensor for mapping and obstacle avoidance. To satisfy user commands, Sprinkles uses an automated planner to generate a course of action, and executes it.


With Newman, a Baxter robot, we aim to develop a way of mapping high level tasks to low level trajectories. We start with the assumption, that any given grounded action can map to multiple DMPs and in our approach we attempt to map the action to a single DMP based on the action's context with in the plan. In the video on the left, our Newman performs a lateral pickup on the cup, since it later needs to perform a pour action. In the video on the right, we perform a vertical pickup on the cup, since it only needs to place the cup at a different position.

Clone Troopers

We also have a fleet of NAO-bots, that we have used in various planning projects. One such project featured in the System Demonstrations and Exhibits Track at ICAPS 2014.

Pictures from the Yochan Exibition Desk at AAAI, 2016

Yochan participated in the Robotics Exhibition at AAAI, 2016. We showcased Kramer's block stacking capabilities. The audience also had a fun time controlling the robot through the leap motion sensor. Our participation received media coverage in Channel One and City of Phoenix News.