Research Assistant

Curriculum Vitæ

• TUM CREATE, Singapore, since March 2016
• Ph.D. (Research assistant) in informatik at Technische Universität München since December 2010
• Master of Engineering in Signal and Information Processing from China Agricultural University, June 2010
• Bachelor in Electronics and Information Engineering from China Agricultural University, June 2008

Current Research Interests

• Visual Servoing
• Robotics and Safe Human-Robot Interaction
• Learning to Grasping and Manipulation
• Human Activities Prediction
• Learning for Robotics

Teaching

• Master-Praktikum/Lab Course SS2013 Robot Kinematic and Dynamic Modeling and Control by Caixia Cai M. Sc and Emmanuel Carlos Dean Leon PhD (ECTS: 10.0, SWS: 6).

Demos

0. Constrained based Robot Control

In this video, a prioritized, multi-task control framework is presented, that can realize force-based tasks in systems for industrial robots. In this framework, multiple tasks and constraints can be simultaneously controlled, and different priorities for tasks are accomplished through null-space projections. The proposed framework is evaluated for several typical industrial robotics applications like grasping, welding, erasing and peg-in-hole.

1. Visual Servoing

* 6D Stereo Uncalibrated Image-Based Visual Servoing (IROS 2014)

This video shows an implementation of a 6D image-based visual servoing control. The extrinsic parameters of the camera and the kinematic/dynamic parameters of the robot are considered as unknown. The visual-servoing control uses error functions defined in a 3D visual space (measured in pixels). The control approach can be integrated seamless with other control strategies to obtain different dynamic behaviours. In order to overcome the limitation of the stereo-rig (visual occlusion), a new camera model is designed together with a robust control law. Now, in case of occlusion, the stereo-rig can be moved. The control scheme will adapt to the new camera parameters.The demo also shows different dynamic/kinematic behavior for the robot.

* 3D Stereo Uncalibrated Image-Based Visual Servoing (IROS 2013)

* Safe Human-Robot Interaction: Human Avoidance

2. Robotics

* Robot Kinematic and Dynamic Modeling

help the development of useful tools for robot modeling (Kinematic and Dynamic models)

* Human-Robot Interaction (Teaching & Execution)

During the teaching phase, the reasoning engine uses the information from the perception module to associate involved objects/actors with the task. The Process and Tasks are stored in an Ontology-based Knowledge Data Base. This knowledge can be used later in more complex Process. The Semantic abstraction allows the decoupling of the Problem Space from the Solution Space. Thereby, the problem description and analysis is isolated from the execution and scenario-specific parameters. This research is associated to the project SMErobotics .

* Human-Robot Collaboration

The architecture can be used for Human-Robot Collaboration. The semantic description allows to integrate Human tasks with Robot Tasks. In this way, the strengths of both actors can be used to optimize the process. This research is associated to the project SMErobotics .

3. Computer Vision

* Scene Perception and Recognition Using Point Clouds in Human-Robot Interaction Scenarios

For More Information please visit the Homepage : Dr. Emmanuel Carlos Dean Leon and my colleague Nikhil Somani

Publications