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Robotik 2 - Humanoide Robotik, SS19

Karlsruher Institut für Technologie (KIT)

education higher education

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00:46:11

10: Robotik II: Humanoide Robotik, Vorlesung, SS...

Robotik 2 - Humanoide Robotik, SS19 ·

2019/07/15

10 | 0:00:00 Start 0:00:05 Imitation Learning 0:11:06 Motivation: Learning from demonstration and human observation 0:19:35 Motion Reproduction using MMM 0:23:06 Open Pose - CMU 0:26:53 Two levels of representation 0:33:09 Segmentation 0:36:10 Key Points 0:41:28 Zero Velocity Crossings (ZVCs)

01:12:06

09: Robotik II: Humanoide Robotik, Vorlesung, SS...

Robotik 2 - Humanoide Robotik, SS19 ·

2019/07/09

09 | 0:00:00 Start 0:00:05 Adaptive Haptic Perception = Haptic Exploration 0:02:35 Tactile exploration of a sponge using ARMAR-IIIb 0:04:37 Motivation 0:07:14 What is Haptics? 0:09:47 Haptic Perception 0:11:25 Haptic exploration can only be active 0:13:39 Important questions in haptic perception 0:16:26 Haptic exploration 0:18:21 Potential Field Based Exploration 0:21:15 Exploration using dynamic potential fields 0:25:44 Haptic Exploration with Movemaster 0:27:37 Extracting Grasp Hypotheses 0:30:22

01:26:58

08: Robotik II: Humanoide Robotik, Vorlesung, SS...

Robotik 2 - Humanoide Robotik, SS19 ·

2019/06/25

08 | 0:00:00 Start 0:00:08 heutiges Thema: Greifen von unbekannten Objekten 0:01:10 Detecting and Shape Completion Using Symmetry 0:04:31 Shape completion 0:06:19 Finding symmetry planes 0:09:16 Object shape completion 0:11:48 From Low-Level Features to Grasp Hypotheses 0:17:42 ECV based EGA 0:34:03 Training Data for Grasping 0:43:53 Deep learning approaches for grasping 0:48:59 Grasp hypothesis generation and scoring 0:52:56 Generative approach 0:56:58 Deep Grasping 1:08:40 Post Processing 1:11:10

01:29:53

07: Robotik II: Humanoide Robotik, Vorlesung, SS...

Robotik 2 - Humanoide Robotik, SS19 ·

2019/06/17

07 | 0:00:00 Start 0:00:27 Grasping Familiar Objects: Concepts 0:04:21 Grasping Familiar/ Similar Objects: approaches 0:07:41 Discriminative Approaches: Flow-Chart 0:14:57 Discriminative Approaches: Rao et al. 0:19:18 Grasp Synthesis by Comparison 0:29:15 Sensor-Based Exemplars: Herzog et al. 0:39:07 Generative Models for Grasp synthesis: Song et al. 0:45:24 Category-Based Grasping: Madry et al. 0:51:24 Task-Based grasp adaptation 1:12:35 Grasping Objects: Outline 1:17:44 Grasping Unknown

01:28:23

06: Robotik II: Humanoide Robotik, Vorlesung, SS...

Robotik 2 - Humanoide Robotik, SS19 ·

2019/06/04

06 | 0:00:00 Start 0:00:05 Implementation of synergies in Robotics 0:05:58 Mechanical implementation of hand synergies 0:12:10 How to actuate a vector multiple? 0:15:45 How to mecanically add two vector quantities? 0:17:43 Putting everything together 0:20:05 The TUAT/Karlsruhe Humanoid Underactuated Hand 0:33:31 The KIT prosthetic hand 0:39:49 Embedded System 0:54:23 Grasping Objects: Outline 0:56:26 Grasping Known Objects: Typical Flow-Chart 1:03:01 KIT Object database 1:04:30 Grasp Simulator -

01:18:36

05: Robotik II: Humanoide Robotik, Vorlesung, SS...

Robotik 2 - Humanoide Robotik, SS19 ·

2019/05/27

05 | 0:00:00 Start 0:00:17 Bullock Taxonomy 0:04:28 Duality of grasping and balancing 0:11:31 Type of contacts 0:14:11 Taxonomy of whole-body poses 0:15:23 Classification of whole-body actions 0:17:51 Validation of the Taxonomy 0:19:12 Analysis of pose transitions 0:29:23 Language model to generate multi-contact motions 0:33:02 Motion as sequence of poses 0:36:24 Postural Synergies and Eigengrasps 0:36:32 Postural Synergies 0:59:50 Problems with the synergistic model so far 1:01:16 The Soft Synergy

01:23:48

04: Robotik II: Humanoide Robotik, Vorlesung, SS...

Robotik 2 - Humanoide Robotik, SS19 ·

2019/05/21

04 | 0:00:00 Starten 0:02:48 Cognitive Grasping 0:05:12 What is a grasp ? 0:07:33 What properties are essential to grasps 0:12:12 Grasp analysis and grasp synthesis 0:14:30 Grasp contacts 0:20:56 What influences the generation of grasp hypotheses ? 0:37:11 Object classes for robot grasping 0:42:58 Human Hand Models 0:48:29 Human hand models in the literature 0:58:58 Grasping in Humans 1:10:10 haptics in human grasping 1:17:30 Grasping taxonomies

01:18:21

03: Robotik II: Humanoide Robotik, Vorlesung, SS...

Robotik 2 - Humanoide Robotik, SS19 ·

2019/05/14

03 | 0:00:00 Starten 0:00:05 From human body to humanoid 0:01:01 Models of the human body are used in ... 0:02:14 Human body model 0:06:34 Master Motor Map (MMM) – Motivation 0:07:13 Master Motor Map (MMM) 0:11:44 Statistic/ Anthropomorphic Model 0:12:47 The Master Motor Map (MMM) 0:22:50 Motion reproduction using MMM 0:27:53 KIT Human Motion Database 0:29:01 MMM Software and documentation 0:33:27 KIT Whole-Body Human Motion Database 0:35:41 Organization of Motion Data: Motion Description

01:32:49

02: Robotik II: Humanoide Robotik, Vorlesung, SS...

Robotik 2 - Humanoide Robotik, SS19 ·

2019/05/06

02 | 0:00:00 Starten 0:00:05 Bachelor / Master Thesis 0:04:50 Inhaltsverzeichnis 0:05:54 Geschichte der humanoiden Roboter 0:08:41 WABOT 0:09:56 Wabian 0:13:53 Andere Roboter aus Japan 0:17:45 HRP 0:27:25 ASIMO 0:33:34 Toyota Partner Roboter 0:37:19 Sony SDR und QRIO 0:38:21 Cog 0:40:17 Robonaut 0:43:35 Petman 0:46:36 Boston Dynamics 0:54:27 Sarcos 0:55:42 iCub 0:58:00 Nano 1:02:16 KHR & HUBO 1:03:39 Dexter & uBot 1:04:26 Justin & Toro 1:05:04 ARMAR 1:07:32 DARPA Robotics

01:14:44

01: Robotik II: Humanoide Robotik, Vorlesung, SS...

Robotik 2 - Humanoide Robotik, SS19 ·

2019/05/02

01 |0:00:00 Start 0:00:05 H2T Research Topics 0:04:54 This lecture: Robotics II - Humanoid Robotics 0:08:38 Overview 0:14:49 Machine Intelligence 0:19:54 Robot Technologies 0:23:12 Why Humanoids? 0:35:44 The Uncanny Valley 0:40:18 Why Humanoids? Impact of humanoids 0:54:06 Humanoids in the real world 1:03:24 Integration of AI, machine learning, vision and control 1:12:47 ARMAR with Leaders

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Robotik 2 - Humanoide Robotik, SS19

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