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The project aims at developing models and algorithms for robot manipulator control to grasp and use mechanical tools. Going beyond simple grasping of objects, this project will explore possibilities to use standard robot grippers along with a set of mechanical tools in robotic assembly applications. Using Pybullet (physics simulator), various manipulator control and grasping methods will be studied and employed for tool manipulation. Students should have familiarity with robotic manipulators and python programming.
Algorithm implementation (and possibly new gripper design) for effective tool grasping and manipulation.