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392122 Autonomes Greifen (V) (WiSe 2019/2020)

Inhalt, Kommentar

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 screw theory: an alternative approach to represent homogeneous transformations, forward and inverse kinematics. In this framework, velocities (twists) and forces (wrenches) have a very similar representation.
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.

Teilnahmevoraussetzungen, notwendige Vorkenntnisse

recommended prerequisites: Robotic Manipulators
(Robotics Basics: Transforms, Forward/Inverse Kinematics)

Externe Kommentarseite

http://ni.www.techfak.uni-bielefeld.de/teaching/grasping

Lehrende

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Fachzuordnungen

Modul Veranstaltung Leistungen  
39-M-Inf-MI Manuelle Intelligenz Autonomes Greifen unbenotete Prüfungsleistung
benotete Prüfungsleistung
Studieninformation

Die verbindlichen Modulbeschreibungen enthalten weitere Informationen, auch zu den "Leistungen" und ihren Anforderungen. Sind mehrere "Leistungsformen" möglich, entscheiden die jeweiligen Lehrenden darüber.

Konkretisierung der Anforderungen

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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