Objectives Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, - - PDF document

Introduction Objectives Structure Administration

8803 - Mobile Manipulation

Henrik I Christensen & Mike Stilman

Robotics & Intelligent Machines @ GT Georgia Institute of Technology, Atlanta, GA 30332-0760

January 6, 2008

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Welcome

Welcome to this graduate course on Mobile Manipulation 2th generation of course The emphasis is on design of a functional system The course is centered on group work and design

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Video from 2007

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Objectives

Objectives

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Introduction Objectives Structure Administration

Motivation

Mobility is a “mature” field

Without manipulation the interaction is very limited

Manipulation is a “mature” technology

Without mobility the flexibility is limited

The next big problem domain is mobile manipulation

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Objectives

Acquire knowledge about all the key aspects of mobile manipulation Mobility, Manipulation, Systems Integration Mobility

Control, Localization and Navigation

Manipulation

Detection, Servoing, Grasping, Handling

Integration

Utilization of the redundancy of the system

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Real Objective

Design of a system for demonstration of mobile manipulation Fetch-and-Carry type system Design is a key aspect Fielding of systems for demonstration at Automatica 2008

The biggest automation show in the world (Jun 10-13, 2008)

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The System

Segway RMP200 KUKA LWR Robot Schunk Gripper SICK LMS291 FireWire Camera

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Introduction Objectives Structure Administration

Platform System

Segway RMP200 (USB) Sick LMS291 Scanner EATON Industry PC WXP SP2 w MSRS

Platform Control Localisation & Local navigation Player / Stage? Microsoft Robotics Studio

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Arm System

KUKA LWR System Prototype System KRC2lw controller Schunck Parallel Gripper (RS232) FireWire Camera (color)

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Software Structure

Based on Microsoft Robotics Studio C#, Python, VPL, (C++) Basic Drivers Available for all parts

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Structure

Structure

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Introduction Objectives Structure Administration

Style of course

Mixture of

lectures / discussions design discussions on system components

Lectures

Provide background information and example methods

Design discussions

Design discussion and review of progress

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Startup lectures / discussions

System outline / scenario Robot kinematics MSRS discussion / tutorial KUKA Robot Systems KUKA Robot Programming Localization and Navigation Vision for Recognition and Servoing Systems Integration

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KUKA Training

After KUKA Lectures Training on basic programming KRL RSI Basics Manipulate API

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Tasks to be achieved

Basic Platform Control Localization using Laser Data Navigation and trajectory following Arm Control incl compliance Object Recognition and Servoing Grasp Planning Task / Systems Integration

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System Outline

Pose Estimator SegWay Control Navigation Arm Control Visual Recognition Visual "servoing" Grasp Est Task FSA Visual Pose Est Joint Control Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 17 / 24 Introduction Objectives Structure Administration

Administrative Details

Administrative Details

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Organization

Work will be performed in groups of 4-5 Once plan in place progress will be discussed weekly The groups should be self-organized Groups must be formed by January 25.

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Rough Time Table

Jan Background / organization Feb Planning / Early Design Mar Part Prototyping Apr Integration / Testing

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Introduction Objectives Structure Administration

Expected Results

Design document with associated time table (March 1) A mid-term report that details the progress (April 1) A functional system that executes the task (May 1) A conference paper that details the design (May 6)

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Other Things

KUKA will offer 4-5 students a scholarship to goto Germany for June

Early June - Preparation of a Demo System Jun 10-13: Presentation of system at Automatica 2008 Jun 15-25: De-brief with KUKA R&D Staff

Great exposure of research and networking Selection model is open for discussion

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Material

Course web page http://www.cc.gatech.edu/~hic/8803-Mobile-08 Lecture notes and associated material will be published on page Blog will report on updates. Check frequently

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Questions?

Questions?

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