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 Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 1 / 24 Introduction Objectives Structure Administration Welcome Welcome to this graduate course on Mobile Manipulation 2 th generation of course The emphasis is on design of a functional system The course is centered on group work and design Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 2 / 24 Introduction Objectives Structure Administration Video from 2007 Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 3 / 24 Introduction Objectives Structure Administration Objectives Objectives Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 4 / 24

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 Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 5 / 24 Introduction Objectives Structure Administration 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 Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 6 / 24 Introduction Objectives Structure Administration 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) Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 7 / 24 Introduction Objectives Structure Administration The System Segway RMP200 KUKA LWR Robot Schunk Gripper SICK LMS291 FireWire Camera Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 8 / 24

Introduction Objectives Structure Administration Platform System Platform Control Player / Stage? Localisation & Microsoft Robotics Studio Local navigation Segway RMP200 (USB) Sick LMS291 Scanner EATON Industry PC WXP SP2 w MSRS Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 9 / 24 Introduction Objectives Structure Administration Arm System KUKA LWR System Prototype System KRC2lw controller Schunck Parallel Gripper (RS232) FireWire Camera (color) Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 10 / 24 Introduction Objectives Structure Administration Software Structure Based on Microsoft Robotics Studio C#, Python, VPL, (C++) Basic Drivers Available for all parts Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 11 / 24 Introduction Objectives Structure Administration Structure Structure Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 12 / 24

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 Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 13 / 24 Introduction Objectives Structure Administration 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 Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 14 / 24 Introduction Objectives Structure Administration KUKA Training After KUKA Lectures Training on basic programming KRL RSI Basics Manipulate API Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 15 / 24 Introduction Objectives Structure Administration 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 Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 16 / 24

Introduction Objectives Structure Administration System Outline Visual Recognition Task FSA Visual Pose Est Joint Navigation Grasp Est Control SegWay Visual Pose Estimator Arm Control Control "servoing" Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 17 / 24 Introduction Objectives Structure Administration Administrative Details Administrative Details Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 18 / 24 Introduction Objectives Structure Administration 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. Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 19 / 24 Introduction Objectives Structure Administration Rough Time Table Jan Background / organization Feb Planning / Early Design Mar Part Prototyping Apr Integration / Testing Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 20 / 24

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) Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 21 / 24 Introduction Objectives Structure Administration 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 Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 22 / 24 Introduction Objectives Structure Administration 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 Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 23 / 24 Introduction Objectives Structure Administration Questions? Questions? Christensen-Stilman (RIM@GT) 8803-Lecture 1 January 6, 2008 24 / 24