Qiang Li presents Robotic interaction and manipulation employing visuo-tactile servoing controller
On 2018-07-18 11:00:00 at G205, Karlovo náměstí 13, Praha 2
In order to autonomously work in an unstructured environment, robots have to
employ their perception capabilities and robust controllers to realize the safe
interaction with external environment. In this talk, I will focus on the vision
and tactile sensing and integrate them into a general multi-modality
closed-loop
controller to implement lots of common contact-based learning and manipulation
tasks. The whole talk is composed by two sub-topics: Sub-topic 1: a general
tactile servoing controller and its applications: (i) exploring unknown
objects,
(ii) learning robot’s body schema, (iii) learning to use a grasped tactile
tool. Sub-topic 2: a general visuo-tactile servoing controller and its
applications: (i) unknown object’s in-hand manipulation, (ii) learning a
grasped hinged tool.
employ their perception capabilities and robust controllers to realize the safe
interaction with external environment. In this talk, I will focus on the vision
and tactile sensing and integrate them into a general multi-modality
closed-loop
controller to implement lots of common contact-based learning and manipulation
tasks. The whole talk is composed by two sub-topics: Sub-topic 1: a general
tactile servoing controller and its applications: (i) exploring unknown
objects,
(ii) learning robot’s body schema, (iii) learning to use a grasped tactile
tool. Sub-topic 2: a general visuo-tactile servoing controller and its
applications: (i) unknown object’s in-hand manipulation, (ii) learning a
grasped hinged tool.