CSAIL Event Calendar: Previous Series
Robot manipulation in the context of uncertainty
Speaker: Dr. Robert Platt , Dexterous Robotics Laboratory at NASA, Johnson Space Center
Manipulation remains one of the major challenges in robotics. Although manipulation planning algorithms exist, their robust application in practical settings has been confounded by uncertainty regarding the true state of the interaction between the manipulator and the environment. This talk will review two pieces of work that bear on the problem of uncertainty in manipulation. The first, null space grasp control, is an algorithm that enables a robot to "feel" its way into a grasp configuration without much prior knowledge. The second, hand-object state estimation, uses particle filtering to estimate the shape and pose of an object that the robot is touching using only tactile information.