KIT – The Research University in the Helmholtz Association

Institute for Anthropomatics and Robotics (IAR), High Performance Humanoid Technologies (H2T)

www.kit.edu

Humanoid Robotics @ KIT

Tamim Asfour

http://www.humanoid.kit.edu http://h2t.anthropomatik.kit.edu

Humanoids@KIT

H2T Research Topics

Humanoids@KIT

Research Topics @ H2T

Grasping and manipulationIntegration of vision and haptics to deal with unknown objects Active perception for object segmentation Vision-based localisationMobile manipulation

Learning for human observationMarker-based (and markerless) observation of human actions Learning motion primitives from human demonstration Motion primitives for grasping, walking and whole-body locomotion and manipulation tasks

8x

Humanoids@KIT

Praxis der Forschung in WS 16/17 am H2T

Humanoids@KIT

Two Topics

1. Deep Learning for Object Manipulation

2. Reactive Grasping of Unknown Objects

Humanoids@KIT

RGB-D

Camera

MemoryX

Deep Learning Framework

for Object Detection

1. Deep Learning for Object Manipulation

Deep

Action

Planner

Humanoids@KIT

GoalApplying RNN-based deep learning techniques to allow ARMAR to explore the possible actions that objects suggest

Collecting and annotating data for training the proposed deep architecture

RequirementsKnowledge in computer Vision, robotics, and machine learning

Solid programming skills in C/C++ (or Python)

1. Deep Learning for Object Manipulation

Humanoids@KIT

2. Reactive Grasping of Unknown Objects

TaskDesign a closed-loop reactive grasping controller

Data fusion of vision and haptics

Online grasp execution

MethodsComparison of different data-drivenmethods (SVM, Gaussian Processes, …)

Data collection with ARMAR-III

RequirementsSolid programming skills in C++

Solid background in math

Humanoids@KIT

H2T „special“ requirements for PdF

Candidates must spend at least one day per week in the H2T labs

Humanoids@KIT

Contact

H2T, Geb. 50.20www.humanoids.kit.edu

Tamim Asfour asfour@kit.edu

Eren E. Aksoyeren.aksoy@kit.edu

You Zhouyou.zhou@kit.edu

Simon Ottenhaussimon.ottenhaus@kit.edu

Institute für Anthropomatik und Robotik