Multimodal Error Detection in Robotic Assembly (SA/FP/IDP/MA)

Institute

Institut für Werkzeugmaschinen und Betriebswissenschaften (TUM-ED)

Type

Semester Thesis / Master's Thesis /

Content

experimental /  

Description

Motivation  

The iwb researches the robotic assembly of deformable linear objects such as cables. Errors appear in different signals – acoustics, force/torque, camera images, and poses. Every single modality detects only part of them, so a synchronized multimodal approach is needed.

Objective

Integrate acoustic, force/torque, vision, and pose-based error detection into one system that handles errors autonomously.

Work Packages

• Literature review on multimodal sensor fusion

• Develop a Synchronization strategy for the asynchronous sensor streams

• Define a common interface and event format for all detectors

• Decide on a fusion logic for cross-modal error hypotheses

• Link fused detections to recovery skills

• Benchmarking single-modality vs. multimodal detection and validation at the robot cell

Requirements

Requirements

• Structured way of working

• Good programming skills (Python, ideally ROS)

• Independent problem-solving skills

 

Contact

M. Sc. Celina Dettmering
Department
Assembly Technology and Robotics 
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Possible start

sofort

Contact

Celina Dettmering
Room: MW 1304
Phone: +49 89 289 554 63
celina.dettmeringiwb.tum.de

Announcement