Outline - Georgia Institute of Technologyhic/4632B-07/Lecture01-2007.pdf · Robotics and...
Transcript of Outline - Georgia Institute of Technologyhic/4632B-07/Lecture01-2007.pdf · Robotics and...
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4632B/8803Mobile Manipulation
Lecture 1
Henrik I [email protected]
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Outline
Objectives
Style of course
Background
Practical details
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Objective
Design - “Mobile Manipulation System”
Mobility is “mature”
Without manipulation the applications are limited
Manipulation is a “mature” technology
Without mobility it is limited
The next big thing - flexible mobile manipulation
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Mobile ManipulationMobility
Control, Localisation and Navigation
Manipulation
Object Detection, Planning, Servoing, Grasping
Mobile Manipulation
Joint Control of System DOF
Systems Integration - making it operational
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Real - Objective
Design of a system for “fetching” coffee
Programming of a mobile system
Joint Control of Platform and Arm System
Evaluation of the Microsoft Robotic Studio
Design of a real system
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The System ComponentsSegway RMP 200
KUKA KR-5 Sixx manipulator / KR C2SR
2 Laptops / 2 Stationary computers
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The setting
Laboratory in TSRB (large room)
Navigation in moderate clutter
Coffee maker (Cuisinart)
Cup(s)
Simple handling of people in environment
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Platform System
Segway RMP200 (USB)
SICK LMS 291 Scanner
Laptop - DELL
Linux or Win XP
Platform ControlLocalisation &
Local navigation
Player / Stage?Microsoft Robotics Studio
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Arm SystemKUKA KR-5 Sixx
Controller KR C2SR
USB Camera (color)
Laptop
Windows XP
Power issue!
Visual ProcessesPath Planning
Grasp PlanningProcess Integration
KR C2SRRobot Controller
(KRL + RSI)
Std PC system
USB
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Coffee-maker
Cusinart Model
Available f Fry’s
Simple Operation
Crude positioning adequate
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Cups / Proposal
Standard cup
Enough texture to make recognition / servoing manageable
Grasping?
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Style of the courseMixture of
lectures / discussions
design discussions on the system components
Lectures/discussions
To provide the basis for the design/impl
Design discussions
Review of progress on design of system
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Start-up lectures/discussions
IntroductionRobot KinematicsKUKA Robot SystemKUKA Programming / InterfacingMicrosoft Robotic ToolkitVision for recognitionVisual ServoingGrasp modelling
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KUKA Training
After KUKA lectures
Training on use of systems
KRL
RSI system
Small experimental system
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Instructors
Henrik I Christensen
Professor, CoC
Charles C Kemp
Researcher, IHS
Christian Wurll
Leader KUKA Logistics Center (MaRC)
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Tasks to be achievedMobile Robot Basic Control
Localisation with laser mapping
Navigation and trajectory following
Arm Control
Visual recognition / servoing
Grasp Planning (fixed strategies)
Task / Systems Integration (MRS evaluation)
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Setup of small groups
Tasking for each group
#students in the course?
Reporting of progress ~ every other week
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Rough time schedule
January / Background
February / Design of components
March/April - Implementation and Integration
May - Demo / Publication time
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Background
Very few mobile manipulation systems
Many tasks have not been addressed in detail
Door opening, compliant control, flexible human interaction, task integration, redundant use of DOFs
Most applications are fairly trivial
The potential is significant
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Mobile Manipulation ExJune 2002
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Practical issues
Course page w information
http://www.cc.gatech.edu/~hic/4632B-07
Send email to [email protected]
to become member of course mailing list
Hardware available over next 2-4 weeks
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Side issue
KUKA has offered 2-3 summer scholarships with corporate research in Germany for summer of 2007
Microsoft will likely offer 2-3 scholarships for Redmond Summer 2007 - w Robotics Group
Other KUKA opportunities also emerging for internships, extra effort, ...
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Wrap-upEarly coverage of the basics
Design of an impressive platform
Simplified to be manageable in 20 weeks
Aim for early results by mid March
Questions?
Wed: Kinematics intro (material by Tuesday AM)
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