Project Info
Sensor setup and optimization for real-world robots
Xiaoli Zhang
xlzhang@mines.edu
Project Goals and Description:
- Finding appropriate sensors for real-world robots for real-time, high-fidelity robot perception (robot hand, robot arm, mobile robot)
- Evaluate the selected sensor in the simulation platform
- Integrate and calibrate the sensors on the physical robots
- Evaluate and optimize the sensor with advanced signal processing methods
More Information:
Grand Challenge: Engineer the tools of scientific discovery.
- Tactile Sensing and Deep Reinforcement Learning for In-Hand Manipulation Tasks
- Mobile robot navigation based on lidar
- https://github.com/open-mmlab/mmpose
- https://github.com/google/mediapipe
Primary Contacts:
Xiaoli Zhang, xlzhang@mines.edu | Lingfeng Tao, tao@mines.edu | Yunsik Jung, yunsikjung@mines.edu
Student Preparation
Qualifications
- Knowledge of basic sensors for robotics
- Knowledge of signal processing
- Programming ability (Matlab, Python, C++)
TIME COMMITMENT (HRS/WK)
8
SKILLS/TECHNIQUES GAINED
- Understand how to select sensors in different robotic tasks
- Gain skills in setup and optimization of different sensors
- Learn Advanced signal processing methods (model predictive control, inverse kinematics, deep reinforcement learning)
- Learn how to integrate signals from sensors with Robot Operating System (ROS)
MENTORING PLAN
- Prepare robot operation tutorials
- Provide necessary hardware (sensors, computers, robots)
- Provide necessary resources like literature and open-source code
- One-on-one mentoring in the lab
- Weekly meeting to track progress and answer questions
- Assign Ph.D. students as the co-mentor
PREFERRED STUDENT STATUS
Freshman
Sophomore
Junior
Senior