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GRASP Special Seminar: Matei Ciocarlie, Columbia University, “Versatility in Robotic Manipulation: the Long Road to Everywhere”

December 4, 2014 @ 11:00 am - 12:00 pm

Abstract: In this talk, I will present a number of methods for increasing the versatility of mobile manipulators, from novel hand designs and grasp
planning algorithms to Human-in-the-Loop manipulation and its applications
in assistive robotics. I will introduce the concept of eigengrasps as the
bases of a linear hand posture subspace, and use it to show that, from a grasp planning perspective, a hand does not have to be complex in order to
be versatile. I will then present the Velo Gripper, a novel underactuated
design that uses passive adaptation to the object and the environment to
complement the traditional sense-plan-and-act loop. Beyond the
end-effector, I will present sensing and planning methods for manipulation
under uncertainty and through clutter. Finally, I will present our results in Human-in-the-Loop manipulation, enabling non-experts to operate robots
performing complex tasks in difficult environments. Among other
applications, this approach can enable mobile robots to assist people with
motor impairments. I will present results where our robot, operated by a motor impaired person through a head-tracker single-button mouse, performed
varied and unscripted manipulation tasks in a real home, and acted as a
medium for social interaction.


- Learn More

Matei Ciocarlie is an assistant professor of Mechanical Engineering at
Columbia University. His main interest is in reliable robotic performance
in unstructured, human environments, focusing on areas such as novel robotic hand designs and control, autonomous and Human-in-the-Loop mobile manipulation, shared autonomy, teleoperation, and assistive robotics. Matei completed his Ph.D. at Columbia University; his doctoral dissertation,
focused on reducing the computational complexity associated with dexterous robotic grasping, was the winner of the 2010 Robotdalen Scientific Award. Before joining the Mechanical Engineering faculty at Columbia, Matei was a
Research Scientist and then Group Manager at Willow Garage, Inc., a privately funded Silicon Valley robotics research lab, and then a Senior
Research Scientist at Google, Inc. In these positions, Matei contributed to
the development of the open-source Robot Operating System (ROS), and led research projects in areas such as hand design, manipulation under
uncertainty, and assistive robotics. In recognition of his work, Matei was
awarded the 2013 IEEE Robotics and Automation Society Early Career Award.


December 4, 2014
11:00 am - 12:00 pm
Event Category: