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:
The lecture will be given in English if desired by the audience. The slides will be in English.
recommended prerequisites: Robotic Manipulators
(Robotics Basics: Transforms, Forward/Inverse Kinematics)
Frequency | Weekday | Time | Format / Place | Period |
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Module | Course | Requirements | |
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39-M-Inf-ASE-adv-foc Advanced Autonomous Systems Engineering (focus) | Advanced Autonomous Systems Engineering (focus): Vorlesung | Graded examination
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Student information |
39-M-Inf-MI Manuelle Intelligenz | Autonomes Greifen | Ungraded examination
Graded examination |
Student information |
The binding module descriptions contain further information, including specifications on the "types of assignments" students need to complete. In cases where a module description mentions more than one kind of assignment, the respective member of the teaching staff will decide which task(s) they assign the students.
At least 50% of the exercises need to be solved.
The (oral) exam will cover topics from both, the lecture and exercises.
A corresponding course offer for this course already exists in the e-learning system. Teaching staff can store materials relating to teaching courses there: