392266 Projekt: Service Robotics: TIAGo loads the dishwasher (Pj) (SoSe 2021)

Future service robots should help us with our household chores. Loading the dishwasher is a typical benchmarking test for such robots. In order to successfully solve the task, the mobile robot needs to combine navigation and localization, 3D perception, object recognition, as well as
manipulation skills.

The project will build on an existing robotic system from a current research project that uses the TIAGo robot from PAL Robotics in a kitchen scenario. In the project, we will focus on the improvement of specific capabilities (3D perception of a partially filled dish rack,
opening/closing the dishwasher, grasping dishes, placing dishes).

The project will start with some tutorials on necessary theorical concepts, software frameworks and tools. The an individual or small group (max. 3) will work on selected topic(s), implement an enhanced skill, and submit a report on the results.

The project can be done in German or English.

A first meeting will take place on Fr. April 16, 9:00st (Zoom-Link im Lernraum).

Teilnahmevoraussetzungen, notwendige Vorkenntnisse

previous courses on robot perception, robot navigation, robot manipulation, image processing, computer vision, pattern classification, and/or machine learning are recommended (but not necessary).