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4632B/8803Mobile Manipulation

Lecture 1

Henrik I Christensenhic@cc.gatech.edu

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Outline

Objectives

Style of course

Background

Practical details

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Objective

Design - “Mobile Manipulation System”

Mobility is “mature”

Without manipulation the applications are limited

Manipulation is a “mature” technology

Without mobility it is limited

The next big thing - flexible mobile manipulation

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Mobile ManipulationMobility

Control, Localisation and Navigation

Manipulation

Object Detection, Planning, Servoing, Grasping

Mobile Manipulation

Joint Control of System DOF

Systems Integration - making it operational

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Real - Objective

Design of a system for “fetching” coffee

Programming of a mobile system

Joint Control of Platform and Arm System

Evaluation of the Microsoft Robotic Studio

Design of a real system

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The System ComponentsSegway RMP 200

KUKA KR-5 Sixx manipulator / KR C2SR

2 Laptops / 2 Stationary computers

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The setting

Laboratory in TSRB (large room)

Navigation in moderate clutter

Coffee maker (Cuisinart)

Cup(s)

Simple handling of people in environment

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Platform System

Segway RMP200 (USB)

SICK LMS 291 Scanner

Laptop - DELL

Linux or Win XP

Platform ControlLocalisation &

Local navigation

Player / Stage?Microsoft Robotics Studio

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Arm SystemKUKA KR-5 Sixx

Controller KR C2SR

USB Camera (color)

Laptop

Windows XP

Power issue!

Visual ProcessesPath Planning

Grasp PlanningProcess Integration

KR C2SRRobot Controller

(KRL + RSI)

Std PC system

USB

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Coffee-maker

Cusinart Model

Available f Fry’s

Simple Operation

Crude positioning adequate

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Cups / Proposal

Standard cup

Enough texture to make recognition / servoing manageable

Grasping?

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Style of the courseMixture of

lectures / discussions

design discussions on the system components

Lectures/discussions

To provide the basis for the design/impl

Design discussions

Review of progress on design of system

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Start-up lectures/discussions

IntroductionRobot KinematicsKUKA Robot SystemKUKA Programming / InterfacingMicrosoft Robotic ToolkitVision for recognitionVisual ServoingGrasp modelling

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KUKA Training

After KUKA lectures

Training on use of systems

KRL

RSI system

Small experimental system

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Instructors

Henrik I Christensen

Professor, CoC

Charles C Kemp

Researcher, IHS

Christian Wurll

Leader KUKA Logistics Center (MaRC)

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Tasks to be achievedMobile Robot Basic Control

Localisation with laser mapping

Navigation and trajectory following

Arm Control

Visual recognition / servoing

Grasp Planning (fixed strategies)

Task / Systems Integration (MRS evaluation)

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Setup of small groups

Tasking for each group

#students in the course?

Reporting of progress ~ every other week

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Rough time schedule

January / Background

February / Design of components

March/April - Implementation and Integration

May - Demo / Publication time

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Background

Very few mobile manipulation systems

Many tasks have not been addressed in detail

Door opening, compliant control, flexible human interaction, task integration, redundant use of DOFs

Most applications are fairly trivial

The potential is significant

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Mobile Manipulation ExJune 2002

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Practical issues

Course page w information

http://www.cc.gatech.edu/~hic/4632B-07

Send email to hic@cc.gatech.edu

to become member of course mailing list

Hardware available over next 2-4 weeks

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Side issue

KUKA has offered 2-3 summer scholarships with corporate research in Germany for summer of 2007

Microsoft will likely offer 2-3 scholarships for Redmond Summer 2007 - w Robotics Group

Other KUKA opportunities also emerging for internships, extra effort, ...

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Wrap-upEarly coverage of the basics

Design of an impressive platform

Simplified to be manageable in 20 weeks

Aim for early results by mid March

Questions?

Wed: Kinematics intro (material by Tuesday AM)

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