392115 Autonomes Greifen (V) (WiSe 2021/2022)
Contents, comment
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This lecture introduces various approaches for autonomous grasp and manipulation planning and execution - from classical approaches to deep reinforcement learning methods (end-to-end learning). The usual grasping pipeline covers scene segmentation, object fitting, grasp selection, grasp evaluation, planning, and execution. If time admits we will also study tactile sensing and tactile-based manipulation - an important research topic nowadays.
As a theoretical foundation to tackle these topics, we will first study classical grasp evaluation based on wrench-space analysis: We will consider how to formally describe grasps, how to model contacts and friction, as well as learn about grasp evaluation measures like grasp stability and manipulability.
Tentative Schedule:
- Screw Theory: Twists, Wrenches
- Multi-fingered Grasping: Representation and Evaluation of Grasps
- Grasping Approaches
- Tactile-Based Manipulation
The lecture will be given in English if desired by the audience. The slides will be in English.
Requirements for participation, required level
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required prerequisites: Robotic Manipulators
(Robotics Basics: Transforms, Forward/Inverse Kinematics, Velocities/Twists, Jacobian IK)
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| Frequency | Weekday | Time | Format / Place | Period |
|---|
Subject assignments
| Module | Course | Requirements | |
|---|---|---|---|
| 39-M-Inf-MI Manuelle Intelligenz | Autonomes Greifen | Ungraded examination
Graded examination |
Student information |
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At least 50% of the exercises need to be solved.
The (oral) exam will cover topics from both, the lecture and exercises.
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- Monday, October 31, 2022
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- Wednesday, November 17, 2021
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- Wednesday, November 17, 2021
- Type(s) / SWS (hours per week per semester)
- V / 2
- Language
- This lecture is taught in english
- Department
- Faculty of Technology
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