Anthropomorphic Arm Reinforcement Learning Project: Currently Recruiting!

The Bio-inspired Robotics Lab is recruiting individuals interested in reinforcement learning to take part in their research project entitled:

“Learning to grasp objects with an anthropomorphic passive hand and reinforcement learning”

If interested, come to the first meeting on 31 Oct 2019 (this Thursday!) 6pm at the Dyson Centre, Department of Engineering.

Project Summary
Investigate learning strategies to enable grasping of objects using a passive ‘human-like’ hand mounted on an industrial arm.

Project Description
The human hand has been optimized over generations to enable everyday tasks. The main goal of the project is to investigate how important is the hand morphology in enabling manipulation tasks like grasping.

The students will be provided with an anthropomorphic hand (shown above) attached to a UR-5 platform. The motion of the hand and the object will be tracked with a motion capture system.

The aim of the project is to:

  • Investigate reinforcement learning algorithms that can enable grasping of objects by moving the UR-5 arm and the passive dynamics of the hand. Imitation learning can be used to narrow the search space.
  • To study the effect of the hand dynamics (characterized only by the compliance of the joints for now) on the learning process.

The project results will be published in a conference or journal publication.

Run by Dr. Thomas George Thuruthel

If interested, come to the first meeting on 31 Oct 2019 (this Thursday!) 6pm at the Dyson Centre, Department of Engineering.

Contact Jakub (js2427@cam.ac.uk) for additional details.

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