Autonomous Haptic Exploration

Optimization for a floating Myrmex

PlosOne Publication to the project: https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0226880

With the help of a physics-driven simulation environment and reinforcement learning, our goal is to learn autonomous haptic exploration behavior in a three-dimensional environment. Visualization of our haptic simulation environment and of our simulated tactile sensor Myrmex (red blob in the figure) can be found under the following link:

http://www.techfak.uni-bielefeld.de/persons/abarch/myrmex.ogv

Robot performs haptic exploration with Myrmex

 The ultimate goal is to enable a robot to perform a goal-oriented haptic task in an unknown 3D environment.

An illustration of myrmex control performed by a kuka arm for randomly generated pose can be found under the following link (video speed=real x 3):

http://www.techfak.uni-bielefeld.de/persons/abarch/videos/robot.mp4

Related People

Moringen, AlexandraContact

Fleer, SaschaContact

Ritter, HelgeContact