Jingyi Xu, M.Sc.
Lehrstuhl für Medientechnik (Prof. Steinbach)
Jingyi Xu studied Electrical Engineering and Information Technology at the Technical University of Munich. She received the Bachelor of Science (B.Sc.) degree in 2012 and the Master of Science (M.Sc.) degree in 2014 with the honor "passed with high distinction". In November 2014, she joined the Chair of Media Technology at the Technical University of Munich as a member of the research staff. Her research focus is physics-based deformable object grasping and manipulation.
My website: www.jingyixu.com
Motivation: manipulating deformable fragile objects or open containers is challenging. While assuring the stability, it is further important to not damage the object and to avoid undesired effects such as content spilling of an open container caused by the deformation. [Video]
My focus: model-based contact and grasp analysis for known objects. Learning-based approaches will be then applied to transfer the knowledge to manipulating familiar or unknown objects.
We divide a manipulation task into several sub-tasks, defined as modular tasks. We train the models for grasp stability of modular tasks, such that they can be flexibly combined and adapted to new manipulation actions. Robotic experiments demonstrate that the proposed method avoids unnecessary grasp force adaptations and regrasps for various manipulation tasks. [Paper: IROS 2018] [Video]