Simulation is a good way of investigating the possibility of a complex behavior implementation for service robots. Since we can not consider all the characteristics of the real work scenario there would be the sim-to-real adaptation step in order to fine-tune the current learned skill from simulations. In this project, the scenario will be the liquid pouring tasks which we already learned in a simulation environment. We will tackle the sim-to-real adaptation problem using haptic communication in order to demonstrate and skill for extra time and the robot will use the expert user knowledge in order to fine-tune the current learned skill from the simulation.

Be familiar with skill refinement techniques. 

Be familiar with haptic teleoperation

Strong background in c++

String background in python

We want to investigate what are the simulation bottlenecks in order to learn the pouring task. How we can tackle this problem. This project is more paper reading and the field of research is skill refinement and domain adaptation. In addition, we will try to implement one of the states of the art methods of teaching by demonstration in order to adapt the simulation skill to the real-world scenario.

Creativity

Motivation

Strong C++ Background

Strong Phyton Background

The student will develop different liquid characteristics using Nvidia Flex, will add different containers and particle collision checking system. In addition, a ground truth system to later use for robot teaching.

Reference:

https://developer.nvidia.com/flex

https://developer.nvidia.com/physx-sdk%20

Strong Unity3D background

Familiar with Nvidia Physics and Nvidia Flex libraries. 

By the advancement of robotics and communication networks such as 5G, telemedicine has become a critical application for remote diagnosis and treatment.

In this project, we want to perform robotic teleoperation using a Sigma 7 haptic master and a Jaco 2 robotic manipulator.

 Tasks:

• State of the art review and mathematical modeling
• Jaco2 haptic controller implementation
• Fault-tolerant (delay, network disconnect) controller design 
• System evaluation with external force-torque sensor

• Strong background in C++ programming
• Solid background in control theory 
• Be familiar with robot dynamics and kinematics 
• Be familiar with the robot operating system (ROS) and ROS Control (Optional)