Closed-Loop Vision-Based Manipulation Technique

Prosthetic Arm CAD Design

Problem of Generalization

Resulting Demo

Overview of all components involved in manipulation tasks!

Q-learning and CNN’s

QT-Opt

Markov Decision Process (MDP)

Reward function

Grasp execution and termination condition

Q-Function representation as CNN

The architecture of grasping Q-Function

Data collection

Quantile QT-Opt

Inverse Kinematics (IK)

Configuring the joint positions of a robot using forward or inverse kinematics.

Dynamic Particles & Motion Planning

  • It is defined what the start and goal state is but if the path planning object is a serial manipulator, an end-effector position is often provided instead of a goal state.
  • A new path planning task is created and an algorithm is selected.
  • Create the required state space and specify which entities are not allowed to collide with.
  • Compute one or several paths and destroy the path planning task once the task is completed.

Moving Forward: Testing

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I’m a developer & innovator who enjoys building products and researching ways we can use AI, Blockchain & robotics to solve problems in healthcare and energy!

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Alishba Imran

Alishba Imran

I’m a developer & innovator who enjoys building products and researching ways we can use AI, Blockchain & robotics to solve problems in healthcare and energy!

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