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Teleoperated Bimanual Dexterous Manipulation using the faive Robotic Hand
Develop and integrate a teleoperation setup for two dexterous, human-like robotic hand on robotic arms. Develop control strategies to solve real-world manipulation challenges with this system, to demonstrate the benefits of two-handed dexterous manipulation in mobile robotics.
We at the Soft Robotics Lab have developed a robotic hand that is dexterous, robust and easy to fabricate (check out faive-robotics.com). This is intended as a universal gripper for mobile robotic applications and could enable the automation of human-like tasks that are too complex for conventional grippers.
A tele-operable bimanual setup with two such hands can enable robots to perform most tasks that humans are able to perform with their hands. However, this comes with challenges in solving inverse kinematics and or potentially inverse dynamics problems to allow a smooth teleoperation interface.
The student shall integrate our existing robotic hand hardware onto Franka Emika robot arms with a vision-based or haptic-glove based teleoperation setup. The student shall work on solving the kinematics and other robotics challenges associated with building a real-time two-hand teleoperation setup such as collision detection and prevention, handling singularities, etc. Short demo of the first hand prototype: https://www.youtube.com/watch?v=D04BbNkEeQY
We at the Soft Robotics Lab have developed a robotic hand that is dexterous, robust and easy to fabricate (check out faive-robotics.com). This is intended as a universal gripper for mobile robotic applications and could enable the automation of human-like tasks that are too complex for conventional grippers.
A tele-operable bimanual setup with two such hands can enable robots to perform most tasks that humans are able to perform with their hands. However, this comes with challenges in solving inverse kinematics and or potentially inverse dynamics problems to allow a smooth teleoperation interface.
The student shall integrate our existing robotic hand hardware onto Franka Emika robot arms with a vision-based or haptic-glove based teleoperation setup. The student shall work on solving the kinematics and other robotics challenges associated with building a real-time two-hand teleoperation setup such as collision detection and prevention, handling singularities, etc. Short demo of the first hand prototype: https://www.youtube.com/watch?v=D04BbNkEeQY
Develop and integrate a teleoperation setup for two dexterous, human-like robotic hand on robotic arms. Develop control strategies to solve real-world manipulation challenges with this system, to demonstrate the benefits of two-handed dexterous manipulation in mobile robotics.
**Possible Work Packages**
1. Literature review of existing work on servoing with manipulators
2. Get familiar with the architecture of the faive robotic hand
3. System integration of the chosen teleoperation setup for the robot hands
4. Develop suitable control strategies to solve the real-time teleoperation challenge
5. Design and conduct experiments to validate system performance and solve defined challenges
**Requirements**
1. High motivation and problem-solving ability
2. Capable of both working independently and collaborating in a team
3. Keen to learn more about soft-rigid hybrid robotics and robot control
4. Proficiency in C/C++ and Python
5. First-hand experience with electronics, actuators and sensors
6. Experience in PCB design, rapid-prototyping, CAD, and/or robot simulation is a plus
Develop and integrate a teleoperation setup for two dexterous, human-like robotic hand on robotic arms. Develop control strategies to solve real-world manipulation challenges with this system, to demonstrate the benefits of two-handed dexterous manipulation in mobile robotics.
**Possible Work Packages**
1. Literature review of existing work on servoing with manipulators 2. Get familiar with the architecture of the faive robotic hand 3. System integration of the chosen teleoperation setup for the robot hands 4. Develop suitable control strategies to solve the real-time teleoperation challenge 5. Design and conduct experiments to validate system performance and solve defined challenges
**Requirements**
1. High motivation and problem-solving ability 2. Capable of both working independently and collaborating in a team 3. Keen to learn more about soft-rigid hybrid robotics and robot control 4. Proficiency in C/C++ and Python 5. First-hand experience with electronics, actuators and sensors 6. Experience in PCB design, rapid-prototyping, CAD, and/or robot simulation is a plus
Barnabas Gavin Cangan, gavin.cangan@srl.ethz.ch, Soft Robotics Lab, D-MAVT
Stefan Weirich, stefan.weirich@srl.ethz.ch, Soft Robotics Lab, D-MAVT
Prof. Dr. Robert Katzschmann, rkk@ethz.ch, Soft Robotics Lab, D-MAVT
20230620-DualArmTeleop.pdf
