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Dmitry Berenson
PhD Student

Associated center: CFR

Email address: dberenso+@cs.cmu.edu

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Jump to: Research interests | Keywords | Labs & groups | Projects | Publications

Research interests

I am interested in creating robots that can intelligently interact with the environments they inhabit. Such interaction will require robots to be able to reason about the objects with which they are interacting, the geometry of their environments, uncertainty in sensing, and their own kinematics. Intelligent interaction will also require robots to construct plans for high level tasks, grasping, robot motion, and dynamic manipulation. However, planning is only the beginning since such robots will need to be able to react to unexpected obstacles, human interaction, and errors in manipulation. Plans must be devised to minimize the chances of such errors occurring but if and when these errors occur, the robot must possess robust controllers to compensate. Robots must also be able to recognize commonalities in the tasks they are presented with so that they can use previous experience to guide their decisions. My aim is to develop an intelligent interaction framework that efficiently manages the above issues so that robots can reach a new level autonomy.

Research interest keywords

humanoid robotics, manipulation, mobile manipulation, and motion planning

Current Labs & Groups

Planning and Autonomy Lab - Autonomous motion planning and control of humanoid robots, quadrupeds, mobile manipulators, and UAVs.

Current Projects

Active Home/Personal Robotics - Creating a robot to help with tasks in the home.

Planning for Manipulation - Developing algorithms for autonomous manipulation.

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Manipulation Planning on Constraint Manifolds
  D. Berenson, S. Srinivasa, D. Ferguson, and J. Kuffner
  IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009. [Abstract]
  Download: pdf [1817 KB] copyrighted

• Manipulation Planning with Workspace Goal Regions
  D. Berenson, S. Srinivasa, D. Ferguson, and A. Collet Romea
  IEEE International Conference on Robotics and Automation (ICRA '09), May, 2009. [Abstract]
  Download: pdf [1281 KB] copyrighted

• Grasp Synthesis in Cluttered Environments for Dexterous Hands
  D. Berenson and S. Srinivasa
  IEEE-RAS International Conference on Humanoid Robots (Humanoids08), December, 2008. [Abstract]
  Download: pdf [2693 KB] copyrighted

• The Robotic Busboy: Steps Towards Developing a Mobile Robotic Home Assistant
  S. Srinivasa, D. Ferguson, M. Vande Weghe, R. Diankov, D. Berenson, C. Helfrich, and H. Strasdat
  International Conference on Intelligent Autonomous Systems, July, 2008. [Abstract]
  Download: pdf [5040 KB] copyrighted

• Grasp Synthesis in Cluttered Environments for Dexterous Hands
  D. Berenson and S. Srinivasa
  Robotics Science and Systems (RSS) Workshop on Robot Manipulation: Intelligence in Human Environments, June, 2008. [Abstract]
  Download: pdf [2224 KB] copyrighted

• An Optimization Approach to Planning for Mobile Manipulation
  D. Berenson, H. Choset, and J. Kuffner
  IEEE International Conference on Robotics and Automation (ICRA) 2008, May, 2008, pp. 1187-1192. [Abstract]
  Download: pdf [737 KB] copyrighted

• Grasp Planning in Complex Scenes
  D. Berenson, R. Diankov, K. Nishiwaki, S. Kagami, and J. Kuffner
  IEEE-RAS International Conference on Humanoid Robots (Humanoids07), December, 2007. [Abstract]
  Download: pdf [4246 KB] copyrighted

• Hardware Evolution of Analog Circuits for In-situ Robotic Fault-Recovery
  D. Berenson, N. Esteves, and H. Lipson
  Proceedings of the 2005 NASA/DoD Conference on Evolvable Hardware, June, 2005. [Abstract]