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Task-Driven Tactile Exploration

Author(s)
Kaelbling, Leslie P.; Lozano-Perez, Tomas; Hsiao, Kaijen
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Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/
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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.
Date issued
2010-01
URI
http://hdl.handle.net/1721.1/61375
Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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

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