| Robot Manipulation in Human
Environments Aaron Edsinger |
| Why manipulation in human environments? |
| Where we are todayÉ |
| Domo |
| What does Domo do? |
| Helping with chores |
| Contributions |
| Roadmap |
| Roadmap |
| Controlled environments |
| Human environments |
| Human environments |
| Strategies for human environments |
| Let the body do the thinking |
| Let the body do the thinking |
| Cooperative manipulation |
| Task relevant features |
| Task relevant features |
| Pieces of the puzzleÉ |
| Roadmap |
| Domo |
| Series Elastic Actuators |
| Head |
| Hands |
| Lightweight compliant manipulators |
| Roadmap |
| Using motion cuesÉ |
| Visual attention system |
| Affine motion model |
| Interest regions |
| Sensory Ego-Sphere |
| Roadmap |
| Slate |
| Designing manipulation tasks |
| Task decomposition within Slate |
| Manual skill algorithm |
| Manual skill algorithm |
| Manual skill algorithm |
| Example: Bimanual insertion task |
| Example: Bimanual insertion task |
| Example: Bimanual insertion task |
| Example: Bimanual insertion task |
| Example: Bimanual insertion task |
| Roadmap |
| The task relevant tip |
| The task relevant tip |
| Estimating the tip location |
| Estimating the tip location |
| Estimating the tip location |
| Detecting tips of everyday tools |
| Tip open-loop control |
| Tip open-loop control |
| Tip servo control |
| Tip servo control |
| Roadmap |
| Intrinsic safety |
| Detecting contact motion |
| Detecting contact force |
| Assisted grasping |
| Can we design na•ve collaborators into a task? |
| Can we design naive collaborators into a task? |
| Roadmap |
| Reaching in the darkÉ |
| Switching hands |
| Switching hands |
| Placing objects on flat surfaces |
| Placing objects on flat surfaces |
| Placing objects on flat surfaces |
| Finding an opening |
| Bimanual insertion |
| Bimanual fixture |
| Roadmap |
| Helping with chores |
| Helping with chores |
| Putting away groceries |
| Making a drink |
| Cleaning up |
| Roadmap |
| Further detailsÉ |
| Caveats and Extensions |
| Caveats and Extensions |
| Future Work |
| Conclusions |
| Contributions |
| Thanks toÉ |