Prof. Nikolaus Correll · University of Colorado Boulder
Introduction to Autonomous Robots
Manipulation from the CSCI 4302 labs: inverse kinematics, grasping, collision avoidance and bin picking with a robot arm.
5 lessons
Inverse Kinematics
Implement forward kinematics, inverse kinematics, MoveJ, MoveL, and a keep-out safety plane for a UR5e manipulator.
Introduction to Autonomous Robots
Simple Grasping
Use depth sensing and point-cloud processing to detect cans on a conveyor belt as a precursor to grasping.
Introduction to Autonomous Robots
Oriented Grasping
Translate object pose estimates into reachable grasp poses and execute a top-down grasp with the UR5e manipulator.
Introduction to Autonomous Robots
Collision Avoidance
Use recognition output and a PyBullet collision world to choose feasible grasps in clutter.
Introduction to Autonomous Robots
Bin Picking
Combine inverse kinematics, perception, grasping, and collision checking into a bin-picking pipeline using behavior trees.
Introduction to Autonomous Robots