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<p>Title: <b>Robotic Manipulation under clutter and uncertainty
with and around people</b><br>
Speaker: Siddhartha Srinivasa, Carnegie Mellon University<br>
Series: EE Departmental Seminars<br>
Location: E-Quad, B205<br>
Date/Time: Thursday, February 16, 2017 - 4:30pm<br>
<br>
Abstract:<br>
Robots manipulate with super-human speed and dexterity on factory
floors. But yet they fail even under moderate amounts of clutter
or uncertainty. However, human teleoperators perform remarkable
acts of manipulation with the same hardware. My research goal is
to bridge the gap between what robotic manipulators can do now and
what they are capable of doing.<br>
<br>
What human operators intuitively possess that robots lack are
models of interaction between the manipulator and the world that
go beyond pick-and-place. I will describe our work on
nonprehensile physics-based manipulation that has produced simple
but effective models, integrated with proprioception and
perception, that has enabled robots to fearlessly push, pull, and
slide objects, and reconfigure clutter that comes in the way of
their primary task.<br>
<br>
But human environments are also filled with humans. Collaborative
manipulation is a dance, demanding the sharing of intentions,
inferences, and forces between the robot and the human. I will
also describe our work on the mathematics of human-robot
interaction that has produced a framework for collaboration using
Bayesian inference to model the human collaborator, and trajectory
optimization to generate fluent collaborative plans.<br>
Finally, I will talk about our new initiative on assistive care
that focuses on marrying physics, human-robot collaboration,
control theory, and rehabilitation engineering to build and deploy
caregiving systems.<br>
<br>
<br>
Bio:<br>
Siddhartha Srinivasa is the Finmeccanica Associate Professor at
The Robotics Institute at Carnegie Mellon University. He works on
robotic manipulation, with the goal of enabling robots to perform
complex manipulation tasks under uncertainty and clutter, with and
around people. To this end, he founded and directs the Personal
Robotics Lab, and co-directs the Manipulation Lab. He has been a
PI on the Quality of Life Technologies NSF ERC, DARPA ARM-S and
the CMU CHIMP team on the DARPA DRC. Sidd is also passionate about
building end-to-end systems (HERB, ADA, HRP3, CHIMP, Andy, among
others) that integrate perception, planning, and control in the
real world. Understanding the interplay between system components
has helped produce state of the art algorithms for object
recognition and pose estimation (MOPED), and dense 3D modeling
(CHISEL, now used by Google Project Tango).<br>
<br>
Sidd received a B.Tech in Mechanical Engineering from the Indian
Institute of Technology Madras in 1999, an MS in 2001 and a PhD in
2005 from the Robotics Institute at Carnegie Mellon University. He
played badminton and tennis for IIT Madras, captained the CMU
squash team, and lately runs competitively.<br>
<br>
<a class="moz-txt-link-freetext"
href="http://ee.princeton.edu/events/robotic-manipulation-under-clutter-and-uncertainty-and-around-people">http://ee.princeton.edu/events/robotic-manipulation-under-clutter-and-uncertainty-and-around-people</a></p>
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