09: Robotik II: Humanoide Robotik, Vorlesung, SS 2019, 08.07.2019 Robotik 2 - Humanoide Robotik, SS19

09 |
0:00:00 Start
0:00:05 Adaptive Haptic Perception = Haptic Exploration
0:02:35 Tactile exploration of a sponge using ARMAR-IIIb
0:04:37 Motivation
0:07:14 What is Haptics?
0:09:47 Haptic Perception
0:11:25 Haptic exploration can only be active
0:13:39 Important questions in haptic perception
0:16:26 Haptic exploration
0:18:21 Potential Field Based Exploration
0:21:15 Exploration using dynamic potential fields
0:25:44 Haptic Exploration with Movemaster
0:27:37 Extracting Grasp Hypotheses
0:30:22 Geometric Filtering and Grasp Computation
0:32:27 Tactile Object Exploration
0:33:34 Combining Vision and Haptics
0:33:54 Examples: Bottle
0:34:30 Visually guided exploration on ARMAR
0:40:06 Combining vision and haptics for grasping
0:45:02 Haptic Exploration for Grasping
0:47:30 Next-Best-Touch for Tactile Exploration
0:50:19 Plan Exploration Actions Efficiently
0:55:12 Next-Best-Touch for Tactile Exploration
0:57:52 Next-Best-Touch
0:58:46 Haptic Exploration for Grasping
1:00:30 How many touches are necessary for grasping?
1:05:24 Exploration and Reconstruction of Unknown Objects using Normal and Contact Sensors
1:08:16 Fundamental question in active hearing
1:09:55 Further research topics