Ken Goldberg

The New Wave in Robot Grasping

Despite 50 years of research, robots remain remarkably clumsy, limiting their reliability for warehouse order fulfillment, robot-assisted surgery, and home decluttering. The First Wave of grasping research is purely analytical, applying variations of screw theory to exact knowledge of pose, shape, and contact mechanics. The Second Wave is purely empirical: end-to-end hyperparametric function approximation (aka Deep Learning) based on human demonstrations or time-consuming self-exploration. A "New Wave" of research considers hybrid methods that combine analytic models with stochastic sampling and Deep Learning models. I'll present this history with new results from our lab on grasping diverse and previously-unknown objects.

Ken Goldberg is an artist, inventor, and roboticist. He is William S. Floyd Jr Distinguished Chair in Engineering at UC Berkeley and Chief Scientist at Ambidextrous Robotics. Ken is on the Editorial Board of the journal Science Robotics, served as Chair of the Industrial Engineering and Operations Research Department, and co-founded the IEEE Transactions on Automation Science and Engineering. Short documentary films he co-wrote were selected for Sundance and one was nominated for an Emmy Award. Ken and his students have published 300 peer-reviewed papers, 9 US patents, and created award-winning artworks featured in 70 exhibits worldwide.

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