Task-Driven Tactile Exploration
Author(s)Kaelbling, Leslie P.; Lozano-Perez, Tomas; Hsiao, Kaijen
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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.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Proceedings of Robotics: Science and Systems Conference
Robotics: Science and Systems Conference
Hsiao, Kaijen, Leslie Pack Kaelbling and Tomas Lozano-Perez. "Task-driven tactile exploration" Proceedings of Robotics: Science and Systems, June 2010.
Author's final manuscript