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CSE 492 R - Winter 2020

Week 8: Manipulation and Grasping

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Maru Cabrera

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February 20th, 2020

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Agenda for Today

Demo presentation → Group discussion

Mention: description of the demo, challenges, future aims.

Introduction to the topics: Manipulation and Grasping

Discuss topics related with transformations and frames of reference

Recap on vision and how this impacts manipulation (kinematics, constraints)

Reading Assignment 3 is out!

RoboCup@Home rulebook and score sheets

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In robotics, manipulation is understood as the series of action a robotic system takes to interact with objects other than the robot itself through selective contact. This allows the robot to complete tasks in the real world.

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Manipulation: Brief History Review

Teleoperated manipulation

Handle dangerous materials, difficult environments

Industrial robots

Part assembling

Anthropomorphic manipulation

Service robots (Robocup@Home is here)

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TIME FOR HANDS-ON WORK!

Login information for workstations:

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username: robotics

password: AX2020wi!

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Reading Assignment 3

Reading Assignment 3 is out today: Individual assignment. It will be due next week (Mar 5th)

I will give 2 PDF files from RoboCup@Home: the Rulebook draft and the Score Sheets. Select one of the Stage I tasks and break them down in terms of: navigation, perception (object/person recognition, vision), manipulation and grasping.

Submission will include a written report (max 700 words) where you describe: what are the main sub-components of the task, what functionalities (from the robotic system) are needed, provide the flow of information to complete the task.