{"387411":{"#nid":"387411","#data":{"type":"event","title":"Ph.D. Proposal by Can Erdogan","body":[{"value":"Ph.D. Thesis Proposal Announcement\u003Cbr \/\u003E\u003Cbr \/\u003ETitle\u003Cstrong\u003E: Planning in Constraint Space for Multi-body Manipulation Tasks\u003C\/strong\u003E\u003Cbr \/\u003E\u003Cbr \/\u003E\u003Cstrong\u003ECan Erdogan\u003C\/strong\u003E\u003Cbr \/\u003ERobotics Ph.D. Student\u003Cbr \/\u003ESchool of Interactive Computing\u003Cbr \/\u003ECollege of Computing\u003Cbr \/\u003EGeorgia Institute of Technology\u003Ca href=\u0022http:\/\/www.cc.gatech.edu\/~cerdogan\/\u0022 target=\u0022_blank\u0022\u003Ehttp:\/\/www.cc.gatech.edu\/~cerdogan\/\u003C\/a\u003E\u003Cbr \/\u003E\u003Cbr \/\u003E\u003Cstrong\u003EDate\u003C\/strong\u003E: March 27, 2015 (Friday)\u003Cbr \/\u003ETime: 1pm-3pm EST \u003Cbr \/\u003ELocation: MiRC 102A\u003Cbr \/\u003E\u003Cbr \/\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003Cbr \/\u003EDr. Frank Dellaert, School of Interactive Computing, Georgia Tech\u003Cbr \/\u003EDr. Aaron Bobick, School of Interactive Computing, Georgia Tech\u003Cbr \/\u003EDr. Henrik Christensen, School of Interactive Computing, Georgia Tech\u003Cbr \/\u003EDr. Magnus Egerstedt, School of Electrical and Computer Engineering, Georgia Tech\u003Cbr \/\u003EDr. Tom\u00e1s Lozano-P\u00e9rez, Department of Electrical Engineering and Computer Science, MIT \u003Cbr \/\u003EDr. James Kuffner, Robotics Institute, CMU, Google \u003Cbr \/\u003E\u003Cbr \/\u003E\u003Cstrong\u003EAbstract:\u003C\/strong\u003E\u003Cbr \/\u003ERobots are inherently limited by physical constraints on their link lengths, motor torques, battery power and structural rigidity.\u0026nbsp; To thrive in situations that push these limits, such as in search and rescue scenarios, intelligent agents can use the available objects in their environment as tools. Reasoning about arbitrary objects and how they can be placed together to create useful structures such as ramps, bridges or simple machines is critical to push beyond one\u2019s physical limitations.\u0026nbsp; Unfortunately, the solution space is combinatorial in the number of objects, and the combined configuration space of the chosen objects and the robot is high dimensional. To address these challenges, we propose using constraint satisfaction as a means to express the feasibility of candidate structures and adopt search algorithms in the classical planning literature to find sufficient designs. \u003Cbr \/\u003E\u003Cbr \/\u003EThe key idea is that the interactions between the components of a structure can be encoded as simple equality and inequality constraints on the configuration spaces of the respective objects. Subsequently, a classical planning search algorithm can reason about which set of constraints to impose on the available objects, iteratively creating a structure that satisfies the task goals and the robot constraints. To demonstrate the effectiveness of this framework, we present both simulation and real robot results with static structures such as ramps, bridges and stairs, and quasi-static structures such as lever-fulcrum simple machines, using humanoid robots Golem Hubo and Golem Krang. We propose to extend this work to exploit the dynamic properties of objects, to help robots achieve tasks more efficiently and beyond their limited workspaces.","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Planning in Constraint Space for Multi-body Manipulation Tasks"}],"uid":"27707","created_gmt":"2015-03-13 08:59:24","changed_gmt":"2016-10-08 01:48:47","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2015-03-27T14:00:00-04:00","event_time_end":"2015-03-27T16:00:00-04:00","event_time_end_last":"2015-03-27T16:00:00-04:00","gmt_time_start":"2015-03-27 18:00:00","gmt_time_end":"2015-03-27 20:00:00","gmt_time_end_last":"2015-03-27 20:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"1808","name":"graduate students"},{"id":"913","name":"PhD"},{"id":"3395","name":"proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}