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Generalized Pick&Place
My research is focused on robotics in the context of AI. What we call Generalized Pick&Place is moving arbitrary objects in an everyday kitchen environment, where the operation of articulated furniture cabinets is necessay as well as bi-manual grasping. A part of my work, I am aiming to provide robust approaches for such Pick&Place actions that improve their robustness and efficiency over time, using e.g. learning techniques and probabilistic models. For doing so, we also work on the bootstrapping, such as opening an unknown cabinet for the first time, modelling its shape etc. and make such information available in a semantic map.
Student Projects
Working mostly on the PR2 platform, I can offer projects in the area of ROS or the PR2 robot and the Point Cloud Library to ambitious students with or without previous experience. The PR2 is a very forgiving platform with a well documented set of software packages, including tutorials that can be completed in simulation - meaning we can get students to working on a real full-fledged Personal Robot very quickly. Apart from the PR2 we just got two Turtlebots that will be used mostly for student projects and teaching.
Publications
| 2012 | |
|---|---|
| Conference and Workshop Papers | |
| CRAM -- a Cognitive Robot Abstract Machine , In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf] | |
| A Generalized Framework for Opening Doors and Drawers in Kitchen Environments , In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] [pdf] | |
| 2011 | |
| Conference and Workshop Papers | |
| Robotic Roommates Making Pancakes , In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf] | |
| Autonomous Semantic Mapping for Robots Performing Everyday Manipulation Tasks in Kitchen Environments , In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [bib] [pdf] | |
| Inferring Generalized Pick-and-Place Tasks from Pointing Gestures , In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Semantic Perception, Mapping and Exploration, 2011. [bib] [pdf] | |
| Robotic Roommates Making Pancakes - Look Into Perception-Manipulation Loop , In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Mobile Manipulation: Integrating Perception and Manipulation, 2011. [bib] [pdf] | |
| Other Publications | |
| A Robot that Shops for and Stores Groceries , AAAI Video Competition (AIVC 2011), 2011. [bib] | |
| 2010 | |
| Journal Articles | |
| Artificial Cognition in Production Systems , In IEEE Transactions on Automation Science and Engineering, volume 7, 2010. [bib] | |
| 2009 | |
| Book Chapters | |
| The Cognitive Factory , Chapter in Changeable and Reconfigurable Manufacturing Systems (H. A. ElMaraghy, ed.), Springer, 2009. [bib] | |
| Conference and Workshop Papers | |
| Constraint-Based Integration of Plan Tracking and Prognosis for Autonomous Production , In KI 2009: Advances in Artificial Intelligence, 32nd Annual German Conference on AI, Springer, volume 5803, 2009. [bib] [pdf] | |
| Integrated Diagnosis and Plan Assessment for Autonomous Production Processes , In Proc. of The IJCAI-09 Workshop on Self-* and Autonomous Systems (SAS-2009), 2009. [bib] [pdf] | |
| Integrated Plan Tracking and Prognosis for Autonomous Production Processes , In Proc. of 14th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA-2009), 2009. [bib] [pdf] | |
| Integrating Model-based Diagnosis and Prognosis in Autonomous Production , In Proc. First International Conference on Prognostics and Health Management (PHM'09), 2009.(accepted for publication) [bib] [pdf] | |
| Optimization of Simulated Production Process Performance using Machine Learning , In Proceedings of Emerging Technologies and Factory Automation (ETFA)., 2009. [bib] [pdf] | |
| Integration of Perception, Global Planning and Local Planning in the Manufacturing Domain , In Proceedings of Emerging Technologies and Factory Automation (ETFA)., 2009. [bib] | |
| 2008 | |
| Conference and Workshop Papers | |
| An Integrated Approach to Realize the Cognitive Machine Shop , In Proceedings of the 1st International Workshop on Cognition for Technical Systems, München, Germany, 6-8 October, 2008. [bib] | |
| Structured Reactive Controllers and Transformational Planning for Manufacturing , In Proceedings of the 13th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Hamburg, Germany, September 15-18, 2008. [bib] [pdf] | |
