Autonomy Talks - Matei Ciocarlie: Mechanisms, Sensors & Policies for Dexterous Robotic Manipulation

Autonomy Talks - 06/12/2022

Speaker: Prof. Matei Ciocarlie, Columbia University

Title: Mechanisms, Sensors and Policies for Dexterous Robotic Manipulation

Abstract: What is the key to success in dexterous manipulation: the mechanical structure of the hand, the rich tactile and proprioceptive data it can collect, analysis and planning in the brain, or perhaps all of these? Believing these areas are deeply intertwined, we are pursu- ing them simultaneously. From a mechanism design perspective, I will present our work on optimizing an underactuated hand transmission mechanism jointly the grasping policy that uses it, an approach we refer to as Hardware as Policy. From a sensing perspec- tive, I will present our optics-based tactile finger, providing accurate touch information over a multi-curved three-dimensional surface with no blind spots. Finally, from a motor learning perspective, I will talk about ongoing work on learning tactile-based policies for dexterous in-hand manipulation and object recognition.