Data-driven autonomous robotic food handling

该项目将为机器人操作开发新的可靠的数据驱动控制算法。本项目将探索低成本处理食品的技术。一些配备抓握末端执行器的低成本关节机器人手臂将被开发和测试，其速度、精度和可靠性都是合理的。这项研究将集中在可靠的数据驱动控制算法上，用于食品操纵。学生将通过越来越复杂的路径开发自适应阻抗控制，从基本的能量感知控制算法到可靠的自适应控制框架。这将与机械设计和原型设计相结合，目标是共同设计控制算法和（兼容的，可调谐的）硬件。该研究将在RT公司提供的商业机器人系统上进行验证。学生将可以完全访问工程和更广泛领域（通信，管理等）的本科，硕士和博士水平的所有教学课程。学生还将从控制实验室、仿生机器人实验室和人机协作天文台的大量活动中学习。

The project will develop new reliable data-driven control algorithms for robotic manipulation. Technologies for low-cost handling of food products will be explored in this project. Some low-cost articulated robotic arms equipped with grasping end-effectors will be developed and tested with the reasonable speed, accuracy, and reliability.The research will focus on reliable data-driven control algorithms for food manipulation. The student will develop adaptive impedance control through a path of increasing complexity, starting from basic energy-aware control algorithms to a reliable adaptive control framework. This will be paired with mechanical design and prototyping, with the goal of co-designing control algorithms and (compliant, tuneable) hardware. The research will be validated on a commercial robotic system provided by RT Corp.The student will have full access to all teaching courses at undergraduate, master, and PhD level, in engineering and wider domains (communication, management, etc.). The student will also learn from a large body of activities at the Control Laboratory, at the Bio-Inspired Robotic Laboratory, and at the Observatory for Human-Machine Collaboration.