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09: Robotik II: Humanoide Robotik, Vorlesung, SS 2019, 08.07.2019

Asfour, Tamim; Wächter, Mirko; Zentrum für Mediales Lernen (ZML) [Hrsg.]

  • 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 Geometric Filtering and Grasp Computation
  • 0:32:27 Tactile Object Exploration
  • 0:33:34 Combining Vision and Haptics
  • 0:33:54 Examples: Bottle
  • 0:34:30 Visually guided exploration on ARMAR
  • 0:40:06 Combining vision and haptics for grasping
  • 0:45:02 Haptic Exploration for Grasping
  • 0:47:30 Next-Best-Touch for Tactile Exploration
  • 0:50:19 Plan Exploration Actions Efficiently
  • 0:55:12 Next-Best-Touch for Tactile Exploration
  • 0:57:52 Next-Best-Touch
  • 0:58:46 Haptic Exploration for Grasping
  • 1:00:30 How many touches are necessary for grasping?
  • 1:05:24 Exploration and Reconstruction of Unknown Objects using Normal and Contact Sensors
  • 1:08:16 Fundamental question in active hearing
  • 1:09:55 Further research topics
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Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Audio & Video
Publikationsdatum 09.07.2019
Erstellungsdatum 08.07.2019
Sprache Deutsch
DOI 10.5445/DIVA/2019-634
Identifikator KITopen-ID: 1000116798
Lizenz KITopen-Lizenz
Serie Robotik II: Humanoide Robotik, Vorlesung, SS 2019
Folge 9
KIT – Die Forschungsuniversität in der Helmholtz-Gemeinschaft
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