This paper presents Gambit, a custom, mid-cost 6-DoF robot manipulator system that can play physical board games against human opponents in non-idealized environments. Historically, unconstrained robotic manipulation in board games has often proven to be more challenging than the underlying game reasoning, making it an ideal testbed for small-scale manipulation. The Gambit system includes a low-cost Kinect-style visual sensor, a custom manipulator, and state-of-the-art learning algorithms for automatic detection and recognition of the board and objects on it. As a use-case, we describe playing chess quickly and accurately with arbitrary, uninstrumented boards and pieces, demonstrating that Gambit's engineering and design represent a new state-of-the-art in fast, robust tabletop manipulation.

We describe a robot that is able to autonomously plug itself in to standard, unmodified electrical outlets by sensing the 60Hz electric fields emitted from the outlet. The building electrical infrastructure is not modified in any way. Unlike previous powerline localization work, no additional signal is injected in the powerlines-the already present AC power carrier signal in the outlet is used as the localization beacon. This technique is faster, more accurate, and potentially less expensive than previously reported vision-based systems for autonomous plugging in.

Pretouch sensing is longer range than contact, but shorter range than vision. The hypothesis motivating this work is that closed loop feedback based on short range but non-contact measurements can improve the reliability of manipulation. This paper presents a grasping system that is guided at short range by Electric Field (EF) Pretouch. We describe two sets of experiments. The first set of experiments involves human-to-robot and robot-to-human handoff, including the use of EF Pretouch to detect whether or not a human is also touching an object that the robot is holding, which we call the “co-manipulation state.” In the second set of experiments, the robot picks up standalone objects. We describe a number of techniques that servo the arm and fingers in order to both collect relevant geometrical information, and to actually perform the manipulation task.

Embedded systems are increasingly becoming connected through wireless networking. These devices now form the basis of many of today's consumer products including cell phones and video game controllers. In the "Software for Embedded Systems" class in the Department of Computer Science & Engineering at the University of Washington, we used the design of a multi-player video game as motivation for the principal concepts in wireless embedded systems. Each student in the class designed an accelerometer-based game controller and then, the class as a whole, developed a multi-player video game that allowed 28 players (the number of students in the course) to play simultaneously. In this paper, we first describe the context of the course and its goals followed by the hardware/software platform we used to realize the game controller. We then detail the pedagogical approach we used to collectively design the video game (loosely based on soccer) and conclude with the lessons learned from this group design experience and how we would enhance the project and course in the future.