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GPU-based Online Trajectory Generation for a Robot Manipulation
Integrate cuRobo, a CUDA-accelerated robot motion generation library from NVIDIA on a Franka Emika Panda arm and a faive robot hand. Benchmark its performance and demonstrate the functionality of this library by executing a series of predefined tasks that incorporate inverse kinematics, collision checking and trajectory generation for a combined system of the robot arm and the robot hand.
Check out this video: https://www.youtube.com/watch?v=Ux9tFBRLR-A and the following websites: https://curobo.org/ https://www.faive-robotics.com/ for information
**Possible Work Packages**
Get familiar with the architecture of the faive robotic hand, libfranka, and cuRobo
Setup and integration of the cuRobo for the combined setup
Develop interfaces to showcase trajectory generation and collision avoidance
Design and conduct experiments to validate and benchmark system performance and solve defined challenges
**Requirements**
Capable of both working independently and collaborating in a team
Have taken Robot Dynamics or a similar class
Keen to learn more about trajectory generation for robots
Proficiency in C/C++ and Python
Experience in Pytorch/CUDA/Kinematics is a plus
**Possible Work Packages**
Get familiar with the architecture of the faive robotic hand, libfranka, and cuRobo
Setup and integration of the cuRobo for the combined setup
Develop interfaces to showcase trajectory generation and collision avoidance
Design and conduct experiments to validate and benchmark system performance and solve defined challenges
**Requirements**
Capable of both working independently and collaborating in a team
Have taken Robot Dynamics or a similar class
Keen to learn more about trajectory generation for robots
Proficiency in C/C++ and Python
Experience in Pytorch/CUDA/Kinematics is a plus
Not specified
Barnabas Gavin Cangan, gavin.cangan@srl.ethz.ch, Soft Robotics Lab, D-MAVT
Prof. Dr. Robert Katzschmann, rkk@ethz.ch, Soft Robotics Lab, D-MAVT
20231109-cuRobo-TrajectoryGeneration.pdf
