Manipulation of paper is a rich domain of manual intelligence that we encounter in many daily tasks. The present project attempts to analyse and implement the "web" of visuo-motor coordination skills to endow an anthropomorphic robot hand with the ability to manipulate paper (and paper-like objects) in a variety of situations of increasing complexity. This will include aspects such as modeling interaction with compliant objects, action based representation as well as bimanual coordination to enable object transformations such as tearing and folding.
What principles enable rapid and adaptive alignment in coordination?
This project investigates Gestalt principles and their generalization from the perceptual into the action/cooperation domain for modeling adaptive alignment and its functional replication in human-robot cooperation. Departing from learning algorithms for dynamic Gestalt formation in layered recurrent networks (Competitive Layer Model CLM), we develop a hybrid, hierarchical architecture for adaptive alignment in cooperation that integrates elements from connectionist and symbol-based representations. We evaluate its performance in a human-robot cooperation scenario involving two anthropomorphic hands mounted on a bimanual robot platform.
The goal of this project is to investigate the principles underlying co-evolution of a body shape and its neural controller. As a specific model system, we consider a robot hand that is controlled by a neural network. In contrast to existing work, we focus on the genetic regulation of neural circuits and morphological development. Our interest is directed at a better understanding of the facilitatory potential of co-evolution for the emergence of complex new functions, the interplay between development and evolution, the response of different genetic architectures to changing environments, as well as the role of important boundary constraints, such as wiring and tissue costs.
The Control Basis Framework (by Grupen et. al. 1998) is a powerful approach to closed loop control. This project aims at providing a library implementing the Control Basis Framework idea and possibly extending it to concurrent execution. Additional research is planned to investigate how to make machines learn to utilize the control affordances provided by synthesized controllers. read more »
Priming of relevant motor degrees of freedom to achieve rapid alignment of motor actions can be conceptualised as the rapid selection of low-dimensional action manifolds that capture the essential motor degrees of freedom. The present project investigates the construction of such manifolds from training data and how observed action trajectories can be decomposed into traversals of manifolds from a previously acquired repertoire. To this end we focus on manual actions of an anthropomorphic hand and combine Unsupervised Kernel Regression (UKR, a recent statistical learning method) with Competitive Layer Models (CLM, a recurrent neural network architecture) to solve the tasks of manifold construction and dynamic action segmentation.
Together with the advances in building anthropomorphic robot hands, we are facing the question of how to dexterously control such complex robots with up to 20 degrees of freedom in up to five fingers and a wrist. Implementing fixed grasp and manipulation programs does not lead to satisfying results. In our work, we propagate a manifold representation of such movements recorded from human demonstration. The main idea is to construct manifolds embedded in the finger joint angle space which represent the subspace of hand postures associated with a specific manipulation movement.
Manipulation of paper is a rich domain of manual intelligence that we encounter in many daily tasks. The present project attempts to analyse and implement the "web" of visuo-motor coordination skills to endow an anthropomorphic robot hand with the ability to manipulate paper (and paper-like objects) in a variety of situations of increasing complexity. This will include aspects such as modeling interaction with compliant objects, action based representation as well as bimanual coordination to enable object transformations such as tearing and folding.
What principles enable rapid and adaptive alignment in coordination?
The goal of this project is to investigate the principles underlying co-evolution of a body shape and its neural controller. As a specific model system, we consider a robot hand that is controlled by a neural network. In contrast to existing work, we focus on the genetic regulation of neural circuits and morphological development. Our interest is directed at a better understanding of the facilitatory potential of co-evolution for the emergence of complex new functions, the interplay between development and evolution, the response of different genetic architectures to changing environments, as well as the role of important boundary constraints, such as wiring and tissue costs.
