CS Colloq: Data-Driven Grasping and Manipulation

Title: Data-Driven Grasping and ManipulationSpeaker: Prof. Nancy Pollard (CMU)ABSTRACT:
ata captured from human performances of activities ranging from the everyday
through the extraordinary has become widely accessible over the past 10 years.
The ability to download or capture human motion and process it in real-time
has led to many new algorithms and new ways of thinking about character
animation and robot control. However, we do not yet know how to make the most
effective use of this data. What is important about a given performance? How
can it be modified to create realistic new scenarios? And what are the limits
of this approach. Can we ever create behavior that could be called dexterous
from a collection of observed performances?In this talk, I will focus on the problem of creating dexterous grasping and
manipulation behaviors from observed performances. I will discuss how my ideas
have changed over the past decade, as we have gone from the idea that a grasp
is made up of contact points between the hand and object through consideration
of the hand geometry, anatomical constraints, and dynamic properties to the
observation that grasps often involve preparatory sensing and manipulation
actions which we have shown can reduce the effort needed to acquire an object.
Results in computer animation and robot control, as well as results from
controlled human subjects experiments will be presented.BIO:
Nancy Pollard is an Associate Professor in the Robotics Institute and Computer
Science Department at Carnegie Mellon University. She received her PhD in
Electrical Engineering and Computer Science from the MIT Artificial
Intelligence Laboratory in 1994, where she performed research on grasp
planning for articulated robot hands. Before joining CMU, Nancy was an
Assistant Professor and part of the Computer Graphics Group at Brown
University. She received the NSF CAREER award in 2001 for research on
'Quantifying Humanlike Enveloping Grasps' and the Okawa Research Grant in 2006
for "Studies of Dexterity for Computer Graphics and Robotics."

Location: Grace Ford Salvatori Hall Of Letters, Arts & Sciences (GFS) - 220

Audiences: Everyone Is Invited

Contact: CS Colloquia