Abstract: In
this talk, I will present my research on robotic grasping and
assembling: how to enable robots to grasp objects and assemble target
structures autonomously. They are fundamental problems in robotic
manipulation where we have robots rearrange our environment; they can be
applied to a wide range of scenarios such as manufacturing, disaster
response, space exploration, and assisted living. Modular robot
platforms can facilitate the problems with versatility and robustness.
In the first part, I will discuss grasping/fixturing objects with
customized effectors and implementing the ideas with modular arm links
and end-effectors. In the second part, I will focus on assembly planning
for target structures of the common brick wall pattern with
rectangular, modular robots, which is a part of collective efforts for
realizing a swarm of autonomous boats in the Modular Robotics Lab at
Penn.
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