MORE | Spring 2024

Estimating Joint Parameters and Manipulation Order of Multi-DoF Objects for Robot Manipulation

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Manipulation has been a key research area in robotics, yet limitations persist in handling complex objects, especially with multiple degrees of freedom. This project presents a computational method to estimate the articulation parameters and joint manipulation order from 3D camera input for novel objects. Learning from human demonstrations, the model enables robotic manipulation of complex real-world objects after observing articulated motion. This research offers an object-centric approach for more efficient manipulation, with potential applications in manufacturing, healthcare, and beyond.

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