[talks] Talk on robotics by Siddhartha Srinivasa today at 4:30 in ELE
Thomas Funkhouser
funk at CS.Princeton.EDU
Thu Feb 16 06:38:46 EST 2017
Title: *Robotic Manipulation under clutter and uncertainty with and
around people*
Speaker: Siddhartha Srinivasa, Carnegie Mellon University
Series: EE Departmental Seminars
Location: E-Quad, B205
Date/Time: Thursday, February 16, 2017 - 4:30pm
Abstract:
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.
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.
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.
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.
Bio:
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).
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.
http://ee.princeton.edu/events/robotic-manipulation-under-clutter-and-uncertainty-and-around-people
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