Robotic and Haptic Manipulation
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Autonomous manipulation remains one of the most important challenges for robots, especially in cluttered environments with uncertainty and unknowns. Haptic simulation of manipulation is highly desirable for virtual training, virtual prototyping, and human-robot interaction for telerobotic manipulation. In this talk, I’ll introduce our related research work in robotic and haptic manipulation. In particular, autonomous grasping and inspection using a flexible arm such as an elephant trunk robot in cluttered and even unknown environments, appearance-based 3-D object recognition and 6-D pose estimation in cluttered environments where objects partially occlude one another, and haptic simulation of multi-contact interaction with both rigid and deformable objects. If time allows, I’ll also briefly introduce our work on real-time adaptive motion planning and compliant motion for assembly.
- IRIM Seminar Series