Robust grasping under object pose uncertainty
Author(s)Hsiao, Kaijen; Kaelbling, Leslie P.; Lozano-Perez, Tomas
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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).
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Hsiao, Kaijen, Leslie Pack Kaelbling, and Tomás Lozano-Pérez. “Robust Grasping Under Object Pose Uncertainty.” Autonomous Robots 31.2-3 (2011): 253–268.
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