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EU FP7-ICT, 600918, official details

PaCMan Leaflet


Videos from 2016

TEDx Talk by Jeremy Wyatt

This is a recording of a TEDx talk given by Jeremy Wyatt on AI and Robotics. As part of the talk he explains work from the PacMan project.




InfoShare Talk by Marek Kopicki

This is a recording of a talk given by Marek Kopicki on AI and Robotics at InfoShare, one of the largest technology and innovation conferences in Europe. He explains work from the PacMan project and its applications.




Soft Grasping of Novel Objects

This is a short video showing grasping of novel objects using our product of experts method.




Active Touch for Grasping

This video shows our active touch planner working on Boris. It is compared to a simple re-planning method.




Tactile Exploration

This video shows simulation results of an active touch planner to recover object shape. The object representation is a Gaussian process implicit surface representation. The robot plans a series of pokes using an Atlas RRT to guide it to as yet unexplored parts of the surface.




Tactile Exploration on Vito

This video shows the tactile exploration system described above running live on Vito.




Videos from 2015

ERF 2015 PacMan Overview

This video gives a short overview of some of the work done in the project. This was presented at the EU Robotics Forum in Vienna, March 2015.




Vito Robot: Object Transfer

This video gives an overview of our paper on object transfer, including planning of bi-manual re-grasping. This supports our RAL paper on this topic.




Boris Robot: Active vision for grasping

This video shows a demonstration from the second year of the project on using active vision to enable grasping from clutter.




Boris Robot: Loading a dishrack with plates

This video shows a demonstration from the second year of the project on using products of experts to enable placement of novel plates into a dish rack.




Demonstration of soft hand IMU based pose recovery

This video shows the use of Inertial Motion Units (IMUs) to recover the full hand pose of the Pisa-IIT soft-hand. The pose recovery is shown by the ability to classify different objects by the recovered hand pose during a characteristic grasp.




Full explanation of One Shot Learning of Dexterous Grasps

This video shows a complete explanation of the work in our IJRR paper on one shot learning and generation of dexterous grasps for novel objects.




Contact point recovery on finger tip

This video shows an intrinsic tactile sensor developed in the project, demonstrating the ability to recover the contact point on the finger surface.




Tracking of human grasps

This video shows our system for gathering data on human grasps, including finger poses, wrist pose, and contact points.




Public lecture on Robotics

This is a recording of a public lecture on robotics, by Jeremy Wyatt. In this lecture he explains basic ideas in probabilistic robotics, including work from a number of projects, including PacMan.




Videos from 2014

Boris the Robot

This is a short clip of Boris the robot during his launch at British Science Festival 2014. He is grasping the jug using our dexterous grasp inference software.




Dexterous grasp adaptation

This is a video accompanying our ICRA 2014 paper on dexterous grasp learning and transfer using product of experts.




PacMan baseline grasping demonstration

This is a video showing the first complete robot system running an integrated grasping demonstration from across the project. In this case all the objects have a priori models, known by the robot.




Pisa SoftHand Hand Introduction

This is a video talk describing the Pisa soft hand, on which much of the PacMan work is built.




Pisa SoftHand Demonstration

This is a short compilation video showing the Pisa SoftHand being used for a variety of grasping tasks, both as a prosthetic, and on a robot arm.




Pisa SoftHand Interface Demonstration

This is a short video showing the human interface for the Pisa SoftHand.




Videos from 2013

Grasping with actively planned tactile contacts

This is the video supporting our IROS 2013 paper. It shows work on grasping as active information planning. Results are in simulation.

Pisa Softhand Using a Spray gun

This shows the Pisa SoftHand grasping and using a spray gun.




Pisa Softhand Grasping Examples

This shows the Pisa SoftHand grasping a variety of objects.




Pisa Softhand Grasping Examples

This shows the Pisa SoftHand grasping a variety of objects.




Pisa Softhand Grasping Examples

This shows the Pisa SoftHand grasping a variety of objects.




Pisa Softhand Grasping Examples

This shows the Pisa SoftHand grasping a variety of objects.




Kinesthetic Teaching of Grasping

This shows one of our robots being taught to move to a grasp of an object.