Master Thesis
Visual servoing for fine grasping of deformable objects
Student/s
Supervisor/s
Information
- Started: 03/09/2020
- Finished: 09/02/2021
Docs
Description
The Perception and Manipulation Group investigates in service robotics and has two TIAGo mobile manipulation robots and a laboratory simulating an apartment. This project wants to investigate different grasping strategies to allow a robot to manipulate flexible materials, in particular, clothing. First, the traditional approach that relies on hand-eye calibration and classical kinematics will be assessed. Later, using a camera embedded in the robot hand, different visual servoing (2D, 2D1/2...) will be evaluated. The experiments will be performed using a TIAGo mobile manipulation robot and specialized robotic hands. The task will be related to folding or unfolding garments in a human assistive scenario.
Objectives
Develop precise grasping strategies for garments when lying on a planar surface. Develop manipulation actions useful for the folding/unfolding tasks.
Learning oportunities
- Learn visual servoing methods
- ROS robotic framework
- Gather experience in robot use and Gazebo simulator
- Produce a scientific publication depending on the results
Background
- Interest in robotics
- Some experience in programming languages like C, C++ or Python
The work is under the scope of the following projects:
- CLOTHILDE: Cloth manipulation learning from demonstration (web)
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