64-850-P1 Masterproject Intelligent Robotics (Part 1)

Room:	F-326
Date:	Thursday, 12:15 - 15:45
Organizer:	Michael Görner, Norman Hendrich

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Integrated Seminar

The integrated seminar 64-850-S: Integrated Seminar Intelligent Robotics complements the project.

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Appointments

The following schedule is tentative and will be updated according to the participants' previous knowledge and interests.

• 14.10.2021:
  • Introduction [PDF]
  • Assignment #1 [PDF]
• 21.10.2021:
  • Assignment #2 [PDF] / turtlebot.rosinstall
• 28.10.2021:
  • Continue Assignment #2
  • UR5 introduction
  • Initial Brainstorming
• 04.11.2021:
  • Assignment #3 [PDF] / melodic-tams-ur5-setup-demo-mode.rosinstall
  • Project Brainstorming
• 11.11.2021:
  • Assignment #4 [PDF]
  • Project Brainstorming
• 18.11.2021:
  • Presentation Mykhailo - <postponed>
  • Project Brainstorming
  • Literature research
• 25.11.2021:
  • Presentation Mykhailo - Making Sense of Vision and Touch Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks [PDF]
  • Presentation Shang-Ching - Towards a Unified Behavior Trees Framework for Robot Control [PDF]
  • Project Exposee
• 02.12.2021:
  • Project
• 09.12.2021:
  • Presentation Björn - Robotic Mapping: A Survey [PDF]
  • Presentation Fabian - Dream to Control Learning Behaviors By Latent Imagination [PDF]
  • Project
• 16.12.2021:
  • Presentation Philipp - Real-time Perception meets Reactive Motion Generation - Cancelled
  • Project
• 23.12.2021: X-mas holidays
• 30.12.2021: X-mas holidays
• 06.01.2022:
  • Project
• 13.01.2022:
  • Project
• 20.01.2022:
  • Project
• 27.01.2022:
  • Presentation Shang-Ching - The history of YOLO [PDF]
  • Project
  • Milestone First Year

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Tasks to be worked on in the project involve:

• Hands-On understanding of software development (cmake, catkin, Python and C++)
• ROS basics (incl. simulation, TurtleBot, navigation)
• Data visualization (RViz, Markers, plotjuggler, etc.)
• Debugging (incl. rosbag)
• Robot hands-on
• Image / Depth image processing (e.g. OpenCV, PCL)
• Robot Control (e.g. ros_control, MoveIt)
• Control Architectures (e.g. SMACH, BehaviorTrees)

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Content

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Within this project you shall learn how to basically program a robot to do tasks like navigating, manipulating, interfacing with humans. Therefore ROS (robot operating system) as the standard open-source middle-ware will be used to program the robot.

Prerequisites:

Experiences in programming C/C++ and/or Python

Language:

English and German

Start:

Yearly starting in winter term.

Keywords:

Computergrafik, 3D, Robotik. Mensch-Maschine-Interaktion, Bildverarbeitung, Locomotion, Sensortechnik, Manipulation, Grasping, computer graphics, robotics, human-machine interface, image processing, sensor fusion, localization, navigation, gesture recognition

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Learning goal

Get to know various methods and approaches from different aspects of state-of-the-art robotics.

Approach

Attend the integrated seminar of intelligent robotics in parallel. The project has a duration of two semesters and will be continued with 4 SWS in the following semester (this semester: 2 SWS seminar + 2 SWS project).

Appropriate working includes literature research, self-acquiring of basic methods and conepts, implementing of a prototyp, presenting and documenting of the results.

All reports including an oral presentation of the first semester will take place in the integrated seminar 64.450a.