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jobs [2016/03/11 08:38] – KnowRob+MoveIt! bartelsgjobs [2017/01/24 07:19] – [Theses and Jobs] bartelsg
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 If you are looking for a bachelor/master thesis or a job as a student research assistant, you may find some interesting opportunities on this page. If you are looking for a bachelor/master thesis or a job as a student research assistant, you may find some interesting opportunities on this page.
  
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 == Lisp / CRAM support assistant (HiWi) == == Lisp / CRAM support assistant (HiWi) ==
  
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 Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]]
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 Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]
  
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 == On-the-fly 3D CAD model creation (MA)== == On-the-fly 3D CAD model creation (MA)==
  
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 Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]
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 == Multi-expert segmentation of cluttered and occluded scenes == == Multi-expert segmentation of cluttered and occluded scenes ==
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 Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]]
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-== Semantic Collision Checking for Planning Robot Manipulation Tasks == 
-{{ :research:boxy_dough_rolling.png?nolink&200|}} 
-Service robots helping humans at home shall perform manipulation tasks like wiping a table or polishing glass surfaces. To successfully complete these tasks, robots needs to establish the 'right' type of contacts between their tools and the environment while avoiding 'wrong' contact events. The choice of what constitutes a desired or undesired contact event is usually very task- and context-dependent. Unfortunately, standard robot motion planning frameworks either only search for collision-free paths or offer limited interfaces for defining desired and undesired contacts.  
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-The goal of this project is to interface existing collision checking software from MoveIt! with the robot knowledge base KnowRob to enable semantic collision checking. As a result, the student will extend the KnowRob system by a couple of predicates which employ collision checking from MoveIt! to decide whether a given world state complies with a desired contact state.  
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-Requirements:  
-  * basic knowledge of ROS 
-  * basic knowledge of robotics 
-  * interest in using KnowRob and MoveIt! 
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-Contact: [[team:georg_bartels|Georg Bartels]] 
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Prof. Dr. hc. Michael Beetz PhD
Head of Institute

Contact via
Andrea Cowley
assistant to Prof. Beetz
ai-office@cs.uni-bremen.de

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