Object manipulation planning with physics-based models

Add to your list(s) Download to your calendar using vCal

• Mehmet Dogar, Leeds University
• Friday 23 April 2021, 10:00-11:00
• https://bham-ac-uk.zoom.us/j/84111776618?pwd=UDZCNlk2T3l3VmJyOXE0Y2lSeGpodz09.

If you have a question about this talk, please contact Martin Rudorfer.

I will give an overview of our work on robotic object manipulation. First, I will talk about “physics-based planning”. This refers to robot motion planners that use predictions about the motion of contacted (not grasped or picked) objects. The hope is that such planners can go beyond picking/grasping, and enable robots to plan and perform other non-prehensile actions, e.g. nudging, pushing, and toppling. Second, and as much as I have time, I will talk about a more conventional grasping-based problem we have recently been working on, where a robot must manipulate an object for the application of forceful operations on it. Imagine a robot intelligently manipulating a wooden board for you, while you drill holes into the board and cut parts of it. I will describe our efforts in developing a planner that addresses the geometric, stability, and human-comfort constraints of this problem.

Mehmet Dogar is an Associate Professor at the School of Computing, University of Leeds, UK. His research focuses on robotic object manipulation and he leads a group of researchers at Leeds on this topic. He is a co-chair of the IEEE -RAS Technical Committee on Mobile Manipulation and an Associate Editor for the IEEE Robotics and Automation – Letters (RA-L). Previously he was a postdoctoral researcher at CSAIL , MIT. He received his PhD in 2013 from the Robotics Institute at CMU .

This talk is part of the IRLab Seminars: Robotics, Computer Vision & AI series.

This talk is included in these lists:

• IRLab Seminars: Robotics, Computer Vision & AI
• https://bham-ac-uk.zoom.us/j/84111776618?pwd=UDZCNlk2T3l3VmJyOXE0Y2lSeGpodz09

Note that ex-directory lists are not shown.