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On Wednesday, June 4, Rensi Raghunath Nadakkakath Kaliath will present intermediate results of her master's thesis with the title:

A Hybrid Visual Servoing Approach to Improve Robot Dexterity

Abstract:

In the field of robotics, handling objects and interacting with the environment is important for a wide range of applications. The current setup at GET Lab for object handling tasks uses a camera mounted on the end-effector. However, the deployed model-based tracking system fails if the end-effector gets so close that the target object is no longer fully visible. This thesis tries to overcome this limitation by extending the current method so that tracking is possible until the end-effector can interact with the object. One possible solution is to include a fixed camera in the setup. Finally, the new system can be evaluated using tests developed by the National Institute of Standards and Technology (NIST) that cover dexterity tasks such as touch, inspect and grasp.