SEMINAR ON GRASPING AND MANIPULATION SYSTEMS
Place: Medieteknik meeting room, Lindstedsv. 5, 3rd floor
This seminar course will survey basics and recent research results on
algorithms for sensor based robotic manipulation and grasping.
Specific emphasis will be placed on:
sensing and planning
hybrid force/position control
task level specification
learning by demonstration
I will give a short intro to the topic at the beginning of each lecture.
Students are expected to participate in class by
reading, presenting and discussing research papers.
Grading, which is up to 3pt,
will be based on participation and activity. Earned points will be
registered as a part of
Topics in robotics
Graduate students in computer science, electrical engineering, mechanical engineering and related disciplines.
If you are interested in participating, send an email to
If you are interested in presenting one of the proposed papers, include that in your email.
This is the current plan for the course.
Links point to notes or to
Week 33, August 14, 10-11.30:
A short overview of grasping and manipulation
systems - state of the art:
Week 34, Friday August 22, 10-11.30:
Grasping - stability issues.
Some Discussion of Static Gripping and Its Stability
(B. Mishra and N. Silver) - J.Tegin
The synthesis of 3D form-closure grasps
(D. Ding, Y.-H. Liu and S. Wang) - L. Jennergren
Week 35, Thursday August 28, 10-11.30:
Visual determination of 3D grasping points on unknown objects
with a binocular camera system
(A. Hauck, J. Ruttinger, M. Sorg and G. Farber) - S. Ekvall
Vision-based computation of three-finger grasps on unknown planar objects
( A. Morales, P.J. Sanz and A.P. del Pobil) - J. Folkeson
Week 36, Thursday September 4, 11-12.30:
Combining eye-in-hand Visual Servoing and Force Control in Robotic Tasks Usingthe Task Frame
(J. Baeten, H. Bruyninckx, J. de Schutter) - L. Jennergren
Shared Control in Hybrid Vision/Force Robotic Servoing Using the Task Frame
(J. Baeten, H. Bruyninckx, J. de Schutter) - J. Folkeson
Developing Haptic and Visual Perceptual Categories for Reachning and Grasping with a Humanoid Robot
(C. Coelho, J. Piater and R. Grupen) - S. Cedervall
Week 37, Thursday September 11, 10-11.30:
Path planning - Cell Decomposition and Potential Field Methods.
Algorithmic motion planning in robotics
(M. Sharir) - J. Tegin
Rapidly-exploring random trees: Progress and prospects
(S. M. LaValle and J.J. Kuffner) - F. Lingelbach
Exact Robot Navigation Using Artificial Potential Functions
(E. Rimon and D.E. Koditscheck) - S. Cedervall
Week 39, Thursday September 25, 10-11.30:
Path planning - Probabilistic Roadmaps.
Probabilistic roadmaps for path planning in high-dimensional configuration spaces
(L. Kavraki, P. Svetstka, J-C. Latombe and M.H. Overmars) - B. Iliev
Path Planning Using Lazy PRM
(R. Bohlin and L. Kavraki) - F. Lingelbach
Week 40, Friday October 3, 9.15 - 10.45 :
Human prehension and biologically
motivated systems. Human prehension and dexterous robot hands
(T. Iberall) - L. Jennergren, B. Iliev
What can be learnd from human reach2grasp movements for
the design of robotic hand-eye systems?
(A. Hauck, M. Sorg and T. Schenk) - M. Bratt
Behaviour-based mobile manipulation inspired by the human example
(B.J.W. Waarsing, M. Nuttin and H. Van Brussel) - L. Wenfeng
Week 41, Friday October 10, 9.15 - 10.45:
An integrated approach to achieve dexterous grasping
from task level specification
(C. Bard, C. Laugier, C. Milesi-Bellier) - M. Bratt
A hierarchical behaviour-based approach to manipulation tasks
(Z. Wasik and A. Saffiotti), L. Wenfeng
Estimating finger contact location and object pose from contact measurements in 3D grasping
(S. Haidacher and G. Hirzinger) - J. Tegin
Week 42, Friday October 17, 9.15 - 10.45:
Learning by demonstration
Hidden Markov Model for intelligent extraction of robot trajectory command
from demonstrated trajectories
(S.K.Tso and K.P. Liu) - S. Ekvall
Modeling Human Assembly Actions from Observation
(G.V. Paul, Y. Jiar, M.D. Wheeler and K. Ikeuchi) - J. Folkeson
Interactive Natural Programming of Robots: Introductory Overview
( R. Dillmann, R. Zöllner, M. Ehrenmann, O. Rogalla) - M. Bratt
Week 43, Thursday October 23, 14.00 - 15.00:
Week 45, Friday November 14, 9.15 - 10.45:
Dynamics and programming environments.
Implementation of Multi-rigid-body Dynamics within a Robotic Grasping Simulator
(A.T. Miller and H.I. Christensen) - S. Ekvall
Dynamic Motion Planning Whole Arm Grasp Systems Based of Switching Contact Modes
(M. Yashima and H. Yamaguchi) - L. Wenfeng