An Intelligent Mind for an Intelligent Hand: Sensor, Mechanism and Policy Design for Versatile Manipulators

Dr. Matei Ciocarlie

Columbia University

Friday, October 29, 2021

11 AM – 12 PM CST

https://utsa.zoom.us/j/98953233499

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 pursuing them simultaneously. From a mechanism design perspective, I will present our work on optimizing the hand transmission hardware along with the grasping policy using joint optimization algorithms, an approach we refer to as “Hardware as Policy”. From a sensing perspective, 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 in-hand manipulation.