CS Colloquium: Kaiyu Hang (Yale University) - Robotic Manipulation – From Representations to Actions
Tue, Mar 03, 2020 @ 11:00 AM - 12:00 PM
Conferences, Lectures, & Seminars
Speaker: Kaiyu Hang, Yale University
Talk Title: Robotic Manipulation -“ From Representations to Actions
Series: CS Colloquium
Abstract: Dexterous manipulation is a challenging and integral task involving a number of subproblems to be addressed, such as perception, planning, and control. Problem representation, which is an essential element in a system that defines what is actually the problem to be considered, determines both the capability of a system and the feasibility of applying such a system in real tasks.
In this talk, I will introduce how good representations can convert difficult problems into easier ones. In particular, I first discuss the development of representations for grasp optimization, as well as how a good representation can simplify and unify the whole grasping system, including globally optimal grasp planning, sensing, adaptation, and control. By expanding or varying this representation in terms of problem scenarios, I further show how it can greatly facilitate solving other problems, such as grasp-aware motion planning, optimal placement planning, and even dual-arm manipulation. Second, I will introduce our work on underactuated manipulation using soft robotic hands. For underactuated hands without any joint encoders or tactile sensors, I present our representations that can enable a robot to interact with tabletop objects using nonprehensile manipulation to finally grasp it, and show how to register the object into its own hand-object system once grasped, so as to eventually provide precise and dexterous in-hand manipulation. Finally, I discuss how to develop representations for optimizing robot fingertip designs, especially for simple grippers with limited grasping skills. By installing those optimized fingertip designs onto drones, I further show that those optimized designs can enable the drones to perch or rest at various structures, achieving significant improvement in energy consumption.
This lecture satisfies requirements for CSCI 591: Research Colloquium
Biography: Kaiyu Hang is a postdoctoral associate working with Prof. Aaron M. Dollar at the GRAB lab, Yale University. He received his Ph.D. in Computer Science, specialized in Robotics and Computer Vision, under the supervision of Prof. Danica Kragic from KTH Royal Institute of Technology, Stockholm, Sweden. Before joining the GRAB lab, he was a research assistant professor at the Department of Computer Science and Engineering, and a Junior Fellow of the Institute for Advanced Study, Hong Kong University of Science and Technology. His research interests include representations and optimization for robotic manipulation, motion planning, adaptive grasping and in-hand manipulation, underactuated robotic hands, dual arm manipulation, and mobile manipulation.
Host: Joseph Lim
Location: Olin Hall of Engineering (OHE) - 132
Audiences: Everyone Is Invited
Contact: Assistant to CS chair