392189 Tactile Robotics (S) (WiSe 2022/2023)

Tactile robotics is a growing area in robotics, focusing on the hardware sensing, perception computation and adaptive control while tactile capabilities are involved. Building on the field of mathematical manipulation theory and machine learning technology, tactile robotics are empowering robots with a higher robustness in the real-world applications. At present, there is a rapid cycle of technology development and innovation in tactile sensing, learning and control. In parallel, there is a need for robots to be able to interact physically with the unstructured environments where humans live, for example to assist humans or perform manual tasks, which is attracting increasingly more attention to tactile sensing as an enabling technology for dexterous interaction.

This seminar will give a detailed introduction on tactile robotics, the students are invited to work with lecturer in an interactive way (e.g. exploiting the e-Learning) to perform this course.
These tutorial lectures will be composed of three parts. In Part I, the lecturer will give a brief introduce on (1) state of the art tactile sensors, (2) the fundamentals of the coordinate transformation and robotic kinematics (3) basic robotic hand control approach. In Part II, the students are assigned the papers which are the state of the art approaches on three lines: (1) tactile sensors (2) tactile information perception (3) tactile servoing and multi-fingers grasping controller. In Part III, the students have chance to finish a small tactile-related course project.

As lecturer, I encourage the students who has the learning background on mathematics and physics, mechatronics, machine learning and cybernetics. The course will give you chance deep into the tactile-based robotic manipulation which is an amazing and more and more popular research topic in intelligent robots.

Requirements for participation, required level

essential: linear algebra (matrix computation), programming language (c++ or python)
optional: Robotics, Basic control theory