CS 5970-002: Mobile Manipulation
(Spring 2012)

Mobile Manipulators are robotic systems that are capable of navigating through and interacting with unstructured environments in order to perform a wide range of tasks. Designing control systems for this domain is a non-trivial process, due in part to the complexities of constructing and manipulating flexible and extensible representations of the environment, motor action and task. In this seminar course, we will study the representation, learning, planning and control techniques that are currently driving this field forward.

When: Tu/Th 1:30-2:45

Where: CEC 123

Topics will include:

• Grounding conceptual knowledge in sensorimotor interaction.

• Constructing generalizable, task-oriented representations of the robot, environment and task.

• Planning under uncertainty and with incomplete information.

• Human-robot interaction for learning and cooperative task execution.

• Integrated planning and execution of whole body movements.

• Grasp/manipulation planning and execution.

Students will be required to:

• Read papers on a weekly basis and write short responses to these papers.

• Lead the discussion of a small number of papers.

• Engage in a semester-long project in collaborative groups on either a simulated or a physical mobile manipulation robot.

• Report the project results in both written and oral form.

Requirements

Students need to have a solid background in a language such as C or C++ (or an ability to learn quickly) and mathematics (linear algebra, calculus, probability and statistics). Useful background includes: artificial intelligence, machine learning, robotics, control systems, and/or embedded systems.

Class Materials

• Syllabus

• Project Specification

• Class Schedule

fagg - cs ou edu

Last modified: Mon Jan 16 23:50:53 2012