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. http://personalrobotics.intel-research.net/press.php 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 1 Carnegie Mellon University | University of Pittsburgh 1

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

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 3 Carnegie Mellon University | University of Pittsburgh 3

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 16-711), Adaptive Control and Reinforcement Learning (CMU 16-899C), and Legged Locomotion (CMU 16-899E). 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 4 Carnegie Mellon University | University of Pittsburgh 4

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. http://personalrobotics.intel-research.net/press.php 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 5 Carnegie Mellon University | University of Pittsburgh 5

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 6 Carnegie Mellon University | University of Pittsburgh 6