WP 5: Manipulation
Lead / Participants: AWI, DLR-RM, GEOMAR, KIT-IAR
Goal of work package WP5 is to develop methods for grasping and manipulation in the domains planetary and ocean exploration. In particular, we will develop a manipulation toolkit providing methods for grasp, motion and manipulation planning as well as approaches for coordinated execution of manipulation tasks in robot teams. Focus lays on providing grasping and manipulation skills for known, familiar and unknown rigid objects. The skills will be tailored to several levels of autonomy ranging from teleoperation, semi-autonomous to autonomous execution.