Robot Pick & Pack
This is a UKRI/EPSRC project that focuses on robotic object manipulation. Consider the example of packing different items into a box in a warehouse to ship the box to a customer. To perform this, a robot would need to pick and insert the items into the box one by one, while nudging, pushing and squeezing objects, to achieve a tight packing. The robot would need to plan and control its actions, as well as use sensors to estimate the positions and deformations of the objects in the box.
Example video of picking with physical interaction
Example video of packing with physical interaction
Research
Adaptive approximation of dynamics gradients via interpolation to speed up trajectory optimisation
Authors: David Russell, Rafael Papallas and Mehmet Dogar Conference: IEEE International Conference on Robotics and Automation (ICRA) 2023 Our work proposes a method of speeding...
Goal-Conditioned Action Space Reduction for Deformable Object Manipulation
Authors: Shengyin Wang, Rafael Papallas, Matteo Leonetti and Mehmet Dogar Conference: IEEE International Conference on Robotics and Automation (ICRA) 2023 Our work proposes a method...