64-850-P1 Masterproject Intelligent Robotics (Part 1)
| Room: | F-326 |
| Date: | Thursday, 12:15 - 15:45 |
| Organizer: | Michael Görner, Norman Hendrich |
Integrated Seminar
The integrated seminar 64-850-S: Integrated Seminar Intelligent Robotics complements the project.Appointments
The following schedule is tentative and will be updated according to the participants' previous knowledge and interests.- 20.10.2022:
- 27.10.2022:
- Assignment #2 (Turtlebot) [PDF] / turtlebot.rosinstall
- 03.11.2022:
- Assignment #3 (Robot Arm + Moveit) [PDF]
- Project Brainstorming
- 10.11.2022:
- Assignment #4 (ROS Services + Collaboration) [PDF]
- Project Brainstorming
- 17.11.2022:
- Project Brainstorming
- Literature research
- 24.11.2022:
- Seminar Presentation Berk Güngör - TossingBot
- Seminar Presentation Yunlong Wang - Making Sense of Vision and Touch
- Project Brainstorming
- Literature research
- 01.12.2022:
- Seminar Presentation Tom Schmolzi - Object Pushing
- Seminar Presentation Carl Heyden - Supersizing Self-Supervision
- Project Exposé
- 08.12.2022:
- Seminar Presentation Florian Vahl - Dreamer/Dreaming V1/V2
- Seminar Presentation Christian Salamut - Object Pose Estimation / DOPE
- Project
- 15.12.2022:
- Seminar Presentation Juliane Röscheisen - Human-Robot-Handover
- Seminar Presentation Imran Ibrahimli - CLIPort
- Project
- 22.12.2022:
- Project
- 29.12.2022: X-mas holidays
- 05.01.2023: X-mas holidays
- 12.01.2023:
- Seminar Presentation Yunlong Wang - Rope Manipulation
- Seminar Presentation Berk Güngör - Dexterous Manipulation With Hand Synergies
- Project
- 19.01.2023:
- Seminar?
- Project
- 26.01.2023:
- Seminar?
- Project
- 02.02.2023:
- Project
- Milestone First Year
Tasks to be worked on in the project involve:
- Practical software development (cmake, catkin, Python and C++)
- Hands-on knowledge of robotics (e.g. UR5, PR2)
- ROS basics (incl. simulation, TurtleBot, navigation)
- Data visualization (RViz, Markers, plotjuggler, etc.)
- Image / Depth image processing (e.g. OpenCV, PCL)
- Robot Control (e.g. ros_control, MoveIt)
- Control Architectures (e.g. SMACH, BehaviorTrees)
- Debugging and testing (incl. rosbag)
Content
Within this project you shall learn how to basically program a robot to do tasks like navigating, manipulating, interfacing with humans. Therefore ROS (robot operating system) as the standard open-source middle-ware will be used to program the robot.
Prerequisites:
Experiences in programming C/C++ and/or PythonLanguage:
English and GermanStart:
Yearly starting in winter term.Keywords:
Computergrafik, 3D, Robotik. Mensch-Maschine-Interaktion, Bildverarbeitung, Locomotion, Sensortechnik, Manipulation, Grasping, computer graphics, robotics, human-machine interface, image processing, sensor fusion, localization, navigation, gesture recognitionLearning goal
The goal of the Master project is basically two-fold. First, you get hands-on knowledge about various methods and approaches from different aspects of state-of-the-art robotics. Second, you learn about how to organize work and how to collaborate in a group towards your self-defined project goal.Approach
You will be working as a group towards a specific robot application (demo) proposed and chosen by the students. The Master project runs over two semesters. In the winter semester (WS 2022), the project consists of two parts with individual STiNE numbers (64-580-P1 for the practical robot work and 64-580-S1 for the seminar part). The Master-project will be continued in the following summer term (4 SWS, no seminar part).
Successful participation includes literature review, self-acquiring of basic methods and concepts, development and tests of (robot) software, implementation of a prototype, presentation and documention of the results.
All reports including an oral presentation in the first semester will take place in the integrated seminar 64-850-S1.
