[robotics-worldwide] Post-doc Position in Grasping and Haptic Information Gathering under Uncertainty, Centro Piaggio, Univ. of Pisa, Italy

Marco Gabiccini m.gabiccini at ing.unipi.it
Fri Feb 15 01:38:35 PST 2013


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University of Pisa, Italy
Research Center "E. Piaggio"

One Post-Doc position working and coordinating the research on the following topics:

-  Active Haptic Information Gathering under Uncertainty (Learning the Haptic Characteristics of Objects by in Hand Exploration)

- Grasping under Uncertainty (Grasping Hand Synthesis, Reach to Grasp Planning in a Cluttered Environment, Reactive Strategies for on-line Grasp Quality Optimization)

These activities cover some tasks within the
FP7-funded project PacMan ”Probabilistic and Compositional
Representations of Objects for Robotic Manipulation”. PacMan will
develop technologies to allow robots to generalize manipulation skills
to novel objects, and to cope with the uncertainty inherent in sensor
driven manipulation. This will be achieved by employing hierarchical,
compositional representations of objects (e.g. part based
representations of shape) that incorporate both visual and haptic
information.

The appointee will work on the following topics:

1. Grasping Under Uncertainty (autonomous selection and execution of feed-forward pre-shaping hand-arm primitives within the soft-synergy paradigm, incipient grasp quality evaluation and local contact point refinement, grasp quality force optimization, grasp planning under uncertainty as a belief space planning problem)

2. Learning the Haptic Characteristics of Objects by in Hand Exploration (definition of control strategies for concurrent stable object grasping and object surface tracing / object surface rolling, frictional coefficient estimation, testing in simulation and on a real platform (KUKA LWR4+ and DLR-HIT Hand))

The candidate for the above topics should have a strong background in: grasping and manipulation modeling (including fingertip rolling and sliding), differential geometry and CAD surface representation, nonlinear control theory, optimal control, machine learning, strong coding and hardware/software integration skills

References: (http://www.centropiaggio.unipi.it/publications)
(http://vicos.fri.uni-lj.si/alesl/research/),

Research Fellow: Salary around 30,000 Euros a year. 
Appointment will be made at the
appropriate salary grade based on qualifications, skills and experience.

PROJECT OVERVIEW:

PacMan involves the following groups:

University of Pisa (www.centropiaggio.unipi.it)
University of Birmingham (www.cs.bham.ac.uk/go/irlab)
University of Innsbruck (iis.uibk.ac.at)

APPLYING:
Application (CV + letters of recommendation) should be made to Local Unit Coordinator Dr Marco Gabiccini (m.gabiccini at ing.unipi.it) and to the principal research supervisor
Prof. Antonio Bicchi (bicchi at centropiaggio.unipi.it). Please always copy Ms. Maley in email: (laura.maley at centropiaggio.unipi.it)

Please mark your email
“PacMan Postdoc Application”

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Marco Gabiccini, PhD
Assistant Professor of Applied Mechanics and Robotics
Dept. of Mechanical, Nuclear and Production Engineering
University of Pisa
Via Diotisalvi 2, 56122 Pisa PI
Italy
Phone: +39-050-221.80.77
Fax: +39-050-221.80.65
Homepage: http://www.dimnp.unipi.it/gabiccini-m/



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