PhD Thesis: Robotic manipulation based on visual and tactile perception

Brayan Stiven Zapata Impata (University of Alicante, Linkedin) is going to defend his PhD Thesis on the topics of COMMANDIA under the supervision of Professor Pablo Gil. The dissertation is planned on September, 17th, 2020 in Alicante, Spain.

Author: Brayan Stiven Zapata Impata
Supervisor: Pablo Gil Vazquez
Dissertation date: September 17th, 2020.
Title: Robotic manipulation based on visual and tactile perception.
Abstract: In this thesis, we provide solutions for various challenges in robotic manipulation. Applying visual perception, a robotic assistant could find grasps on unknown objects. With the use of tactile perception, the robot could predict whether the grasp is stable and even identify in which direction might be slipping the grasped object. As a result, the robot could trigger strategies for keeping the object stable. Finally, integrating our tactile data generation system with the rest of the modules, the assistive robot could feel the grasps before actually moving itself, so less objects would be dropped due to visually stable grasps that are actually slippery.