Task-Driven Tactile Exploration
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Kaelbling_Task based.pdf
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Author(s)
Kaelbling, Leslie P.
Lozano-Perez, Tomas
Hsiao, Kaijen
Date Issued
January 2010
Journal
Proceedings of Robotics: Science and Systems Conference
Publisher
Robotics: Science and Systems Conference
Citation
Hsiao, Kaijen, Leslie Pack Kaelbling and Tomas Lozano-Perez. "Task-driven tactile exploration" Proceedings of Robotics: Science and Systems, June 2010.
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 in the world, including grasping and insertion. The
decision process is applied to a robot hand with tactile sensors, to
localize the object and ultimately achieve a target placement by
selecting among grasping and information-gathering trajectories.
The process is demonstrated in simulation and on a real robot.
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
http://www.roboticsproceedings.org/rss06/p29.html
