Robotic Manipulation of Deformable Linear Objects

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• Krzysztof Walas, PhD, Poznan University of Technology
• Thursday 07 September 2023, 15:00-16:00
• JDB Teaching room, CUED.

If you have a question about this talk, please contact Slawomir Tadeja.

Venue: JDB Teaching Room, CUED

Abstract:

In this presentation, I will outline the most recent advancements we have made in the manipulation of deformable linear objects (DLOs). To begin, I will detail our method for rapidly estimating the shapes of DLOs. This technique excels at handling occlusions and operates effectively with both 2D and 3D data. Moving forward, I will delve into the subject of manipulating DLOs using a pair of robotic arms. Our objective here is to achieve the desired configuration through reliable perception methods. Next, I will report on our latest results regarding modelling the DLO and integrating perception and action within the framework of interactive perception. Lastly, I will showcase the outcomes we have achieved within an industrial setting. The research I am presenting is a component of the H2020 REMODEL project, wherein one of our proposed applications involves placing wiring harnesses within the car cockpit as part of the vehicle manufacturing process.

Speaker’s Bio:

Krzysztof Walas graduated from Poznan University of Technology (PUT) in Poland, receiving an MSc in Automatic Control and Robotics. He received (with honours) PhD in Robotics in 2012 for his thesis concerning legged robot locomotion in structured environments. He did his Postdoc at The University of Birmingham, School of Computer Science, Intelligent Robotics Laboratory. He is a recipient of the LIDER project from the National Center for Research and Development. He was a PI in the THING project on subterranean-legged locomotion within Horizon 2020. He is PI in the REMODEL project on deformable object manipulation within Horizon 2020. Currently, he is an Assistant Professor at the Institute of Robotics and Machine Intelligence at PUT , Poland. His research interests are related to robotic perception for physical interaction applied both to walking and grasping tasks.

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