Shape and Pose Recovery from Planar Pushing
Author(s)Yu, Kuan-Ting; Leonard, John Joseph; Rodriguez, Alberto
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Tactile exploration refers to the use of physical interaction to infer object properties. In this work, we study the feasibility of recovering the shape and pose of a movable object from observing a series of contacts. In particular, we approach the problem of estimating the shape and trajectory of a planar object lying on a frictional surface, and being pushed by a frictional probe. The probe, when in contact with the object, makes observations of the location of contact and the contact normal. Our approach draws inspiration from the SLAM problem, where noisy observations of the location of landmarks are used to reconstruct and locate a static environment. In tactile exploration, analogously, we can think of the object as a rigid but moving environment, and of the pusher as a sensor that reports contact points on the boundary of the object. A key challenge to tactile exploration is that, unlike visual feedback, sensing by touch is intrusive in nature. The object moves by the action of sensing. In the 2D version of the problem that we study in this paper, the well understood mechanics of planar frictional pushing provides a motion model that plays the role of odometry. The conjecture we investigate in this paper is whether the models of frictional pushing are sufficiently descriptive to simultaneously estimate the shape and pose of an object from the cumulative effect of a sequence of pushes.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Mechanical Engineering
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Institute of Electrical and Electronics Engineers (IEEE)
Yu, Kuan-Ting, John Leonard, and Alberto Rodriguez. "Shape and Pose Recovery from Planar Pushing." 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (September 2015).
Author's final manuscript