1. MoMat: Mobile Manipulation
score
rationale
Scientific impact ✔+
Good progress on motion planning capable of dealing with many complex constraints. 6 conference papers.
Commercial impact ✔
Intel, Barrett collaborations.
Public Impact
Intel Open house showcasing work to the public and press.
Educational impact
QoLT Center relevance: Technical/Scientific Synergy
Results are used in Active Home, will be used in PerMMA.
QoLT Center relevance: Interdisciplinary Synergy
QoLT Center relevance: External Synergy
Execution Quality
Funds one student. Substantial results.
recommendation X
continue & increase budget to handle end of Intel fellowship
Quality of Life Technology Center Carnegie Mellon University | University of Pittsburgh 1

2. Intuitive Interaction with an Assistive Robot
score
rationale
Scientific impact ✔
This project increases understanding of how users with disability can safely and easily interact with assistive robots. Paper published at Engineering in Medicine and Biology Conference 2009.
Commercial impact
Public Impact
Educational impact
QoLT Center relevance: Technical/Scientific Synergy
Robotic skin and interaction paradigm can be deployed on PerMMA and/or HERB after initial user testing.
QoLT Center relevance: Interdisciplinary Synergy
Project brings together HCI, robotics, and disability studies. Project has led to an additional collaboration with the HERB team concerning the essential characteristics of manipulators for assistive robots and prosthetic devices.
QoLT Center relevance: External Synergy
Execution Quality
Funds one student. Project is integrating various parts of the system to begin initial user studies. An experimental protocol for this study has been approved by the IRB.
recommendation
X continue at same budget 2

3. MoMat: Soft Robot X ✔ recommendation score rationale Scientific impact
This is a high risk project exploring radically new robot technology: structurally soft robots.
IROS 2009 paper
Commercial impact
Public Impact
Educational impact
QoLT Center relevance: Technical/Scientific Synergy
Goal is use in Active Home and PerMMA systems.
QoLT Center relevance: Interdisciplinary Synergy
QoLT Center relevance: External Synergy
Execution Quality
Funds one student. Good Progress.
recommendation X
continue at same budget
Quality of Life Technology Center Carnegie Mellon University | University of Pittsburgh 3

4. MoMaT: Compliant Control
score
rationale
Scientific impact ✔
This project focuses on developing algorithms for soft physical interaction.
3 conference papers published
Commercial impact
Public Impact
Educational impact
Material used in several courses: Kinematics, Dynamics, and Control (CMU ), Adaptive Control and Reinforcement Learning (CMU C), and Legged Locomotion (CMU E).
QoLT Center relevance: Technical/Scientific Synergy
Goal is more dynamic Active Home and PerMMA systems that physically interact with users, as well as supporting transfer,
QoLT Center relevance: Interdisciplinary Synergy
Combines Robotics and Biomechanics
QoLT Center relevance: External Synergy
Execution Quality
Funds one student. Project is going well (papers, thesis proposal, experimental progress)
recommendation X
continue at same budget
Quality of Life Technology Center Carnegie Mellon University | University of Pittsburgh 4

5. Active Home: HERB X ✔+ ✔ recommendation score rationale
Scientific impact ✔+
Tremendous progress in motion planning. >10 papers.
Commercial impact ✔
Intel, Barrett collaborations.
Public Impact
Intel Open house showcasing work to the public and press.
Educational impact
Featured in NSF’s Science Nation. Sidd taught CMU robotics course. HERB used for course projects.
QoLT Center relevance: Technical/Scientific Synergy
Software will transfer to PerMMA. Software components modularized and integrated using OpenRave and Willow Garage’s ROS, facilitating reuse of software components.
QoLT Center relevance: Interdisciplinary Synergy
Collaboration with PAT, HIS.
QoLT Center relevance: External Synergy
Intel, Barrett, Willow Garage, Technical University of Munich, Universitat Karlsruhe
Execution Quality
Substantial results. Good system integration demonstrated in Intel Open House demos.
recommendation X
continue & increase budget to accommodate PERMMA interaction
Quality of Life Technology Center Carnegie Mellon University | University of Pittsburgh 5

6. Active Home: HRI X ✔ recommendation score rationale Scientific impact
Progress in understanding HRI issues, 1 paper at HRI conference.
Commercial impact
Public Impact
Educational impact
New CMU course: Adaptive Service Design.
QoLT Center relevance: Technical/Scientific Synergy
Interaction design will have wide applicability within QoLT ERC, especially with HERB and PerMMA.
QoLT Center relevance: Interdisciplinary Synergy
Brings together HCI, PST, and Robotics
QoLT Center relevance: External Synergy
Interactions with Willow Garage
Execution Quality
Project is new this year, and proceeding nicely.
recommendation X
continue at same budget
Quality of Life Technology Center Carnegie Mellon University | University of Pittsburgh 6