392122 Autonome Robotermanipulation (V) (WiSe 2024/2025)

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