Robust grasping under object pose uncertainty
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Kaelbling_Robust grasping.pdf
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1.96 MB
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Author(s)
Hsiao, Kaijen
Kaelbling, Leslie P.
Lozano-Perez, Tomas
Date Issued
July 2011
Journal
Autonomous Robots
Publisher
Springer-Verlag
Citation
Hsiao, Kaijen, Leslie Pack Kaelbling, and Tomás Lozano-Pérez. “Robust Grasping Under Object Pose Uncertainty.” Autonomous Robots 31.2-3 (2011): 253–268.
Version
Author's final manuscript
Abstract
This paper presents a decision-theoretic approach to problems that require accurate placement of a robot relative to an object of known shape, such as grasping for assembly or tool use. The decision process is applied to a robot hand with tactile sensors, to localize the object on a table and ultimately achieve a target placement by selecting among a parameterized set of grasping and information-gathering trajectories. The process is demonstrated in simulation and on a
real robot. This work has been previously presented in Hsiao et al. (Workshop on Algorithmic Foundations of Robotics (WAFR), 2008; Robotics Science and Systems (RSS), 2010) and Hsiao (Relatively robust grasping, Ph.D. thesis, Massachusetts Institute of Technology, 2009).
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
https://doi.org/10.1007/s10514-011-9243-2
