ROS-RM - Session III Print

Session III:  Manipulation with a Dexterous Hand.

(11:45-13:15, July 23, 2014)

Dr. Guillaume Walck (University of Bielefeld, Germany)

 

Abstract

Object manipulation is a complex task, but thanks to ROS and MoveIt!, writing a manipulation application is made easier for a new robot. However, when an anthropomorphic dexterous hand replaces a simple gripper, some additional steps are required to correctly perform object manipulation and extend it to in-hand manipulation. This talk will highlight pre-requests to using MoveIt! for manipulation with a dexterous hand, and show the  possibilities of ROS and MoveIt! in the case of in-hand manipulation.

The tutorial will be the application of this talk to the Shadow Hand, going through Inverse Kinematics plugin writing and integration in MoveIt!, interactive markers controlling fingers and finger motion planning and execution on the Shadow Hand.

A process coordination concept that includes a configurable GUI will also be shown in the context of an object manipulation pipeline, and tested on a simple case if times permits.

Speaker short bio

Guillaume Walck received his Engineer's degree in Embedded Systems from ENSEA Cergy-Pontoise in 2004, his M.,Sc. degree in Robotics and Intelligent Systems and the Ph.,D. degree in Robotics from Université Pierre et Marie Curie in 2006 and 2010, respectively. He was research engineer at Institut des Systèmes Intelligents et de Robotique in the HANDLE European project from 2009 to 2013 and since 2014 is lab system engineer in the CITEC of University of Bielefeld. His research interests cover robotics, control and software structure, embedded vision.

Relevant references

Dr. Guillaume profile page at the ISIR