Deformation-Aware Data-Driven Grasp Synthesis

Abstract: Grasp synthesis for 3-D deformable objects remains a little-explored topic, most works aiming to minimize deformations. However, deformations are not necessarily harmful—humans are, for example, able to exploit deformations to generate new potential grasps. How to achieve that on a robot is though an open question. This letter proposes an approach that uses object […]

Building a quadruped robot for reinforcement learning research

The goal of this project is to build the open-sourced quadruped robot called Real-Ant. To start with, the 3D models and the codes for the microcontroller as well as serial port communication are available for the robot. So the first task will be to print the components, assemble the robot and test the available codes on the robot. Then in the second stage, we will modify the robot to make it more robust so that it can tolerate mild shocks and can be run for an extended period of time without the need of tightening the screws or replacing the components. For example, we can think of adding soft legs, cushions etc. to protect the belly and the actuators. In addition, we can also simplify the design so that it can be repaired quickly if required.