es:internal:doctorado
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| * Skilled: Requiere no solo tener un buen modelo del objecto (que definitivamente ayuda a hacer manipulación más experimentada), | * Skilled: Requiere no solo tener un buen modelo del objecto (que definitivamente ayuda a hacer manipulación más experimentada), | ||
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| + | * Implement a simple kalman filter. Then see if there are some implementations in python. | ||
| + | * Add forward kinematics to all the fingers. Calculate velocity and possibly acceleration on them. | ||
| + | * Add all calculated forces from all the fingers to the force controller and to the equivalent applied object excerted force. | ||
| + | * Use the finger forward kinematics and vision information to adjust object position in the estimated position. and maybe do it later for velocity. | ||
| + | * Check if the object is touched at all in the model. Don't exert force/ | ||
| + | * Adjust estimated position according to touch information. | ||
| + | * Motion equations to the object. Estimate position and speed of object from vision, in every moment of time. Every time there is synchronized information of position, speed, and force. Then estimate final outcome, given some continuation of the current force for some extra time. Or while there is force don't estimate, until there is no force anymore, then estimate. | ||
| + | * Inverse problem. Initially specify the action used (to select the right motion controller). | ||
| + | * Try with different objects. | ||
| + | * Constantly update the object model parameters. Update rule. Kalman filter? | ||
| + | * Decidir hasta donde abarcar del systema total en el modelo dynamic (no lineal) | ||
| + | * A partir de los diagramas de fase extraer automaticamente una funcion best fit (probando muchas funciones y métodos y escogiendo la funcion con menos parametros pero que se acerque más) que me diga cosas importantes cualitativas de systemas dynamics. Tal vez luego mathematicamente checkear que esas puedan ser posibles soluciones analiticas. | ||
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| - The motor somatotopy of speech perception. Alessandro D' | - The motor somatotopy of speech perception. Alessandro D' | ||
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| + | ===== iCub ===== | ||
| + | |||
| + | * Kalman filter between vision estimated motion of all the picture and measured angles in the head and the commanded position or velocities to the joints. Is it possible to estimate the position of my head with respect to the world from the video? This is for dealing with problems in calibration and actuation and angle measurement with all types of robots. | ||
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| * Descubrimientos importantes: | * Descubrimientos importantes: | ||
| * Canonical neurons in F5. Mirror Neurons. Visuomotor neurons: ambiguity of the discharge or " | * Canonical neurons in F5. Mirror Neurons. Visuomotor neurons: ambiguity of the discharge or " | ||
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| + | |||
| + | ===== Conferencias relacionadas con robótica ===== | ||
| + | |||
| + | * Applied Bionics and Biomechanics. ICABB-2010. Venice, Italy. | ||
| + | * Cognitive processing. 3rd of september. http:// | ||
| + | * International Conference on Social Robotics. 7 July. | ||
| + | * RSS. Robotics: Science and Systems Conference. http:// | ||
| + | * International Conference on Agents and Artificial Intelligence - ICAART http:// | ||
| + | * ICRA - Setiembre | ||
| + | * ROBIO | ||
| + | * IROS - Febrary | ||
| + | * SIMPAR Workshop 2010 - Domestic Service Robots in the Real World - October | ||
| + | * AAAI | ||
| + | |||
| + | ===== Personas interesadas en trabajar juntos ===== | ||
| + | * Rafael Mu?oz Salinas < | ||
es/internal/doctorado.1269599012.txt.gz · Last modified: 2021/02/01 05:55 (external edit)