TY - GEN
T1 - Fast adaptation for effect-aware pushing
AU - Ruiz-Ugalde, Federico
AU - Cheng, Gordon
AU - Beetz, Michael
PY - 2011
Y1 - 2011
N2 - In order to produce robots that are more capable of skilled manipulation tasks, they must learn meaningful knowledge of how objects behave to external stimulus. With this knowledge a robot can predict the outcome of an action, control the object to serve a particular purpose, and together with reasoning, create or modify robot plans. In this paper we 1) build a mathematical compact model for planar sliding motion of an object, 2) show how a robot acquires the parameters of such a model; then how this is used to 3) predict pushing actions; and 4) to move an object from any position and orientation to another.
AB - In order to produce robots that are more capable of skilled manipulation tasks, they must learn meaningful knowledge of how objects behave to external stimulus. With this knowledge a robot can predict the outcome of an action, control the object to serve a particular purpose, and together with reasoning, create or modify robot plans. In this paper we 1) build a mathematical compact model for planar sliding motion of an object, 2) show how a robot acquires the parameters of such a model; then how this is used to 3) predict pushing actions; and 4) to move an object from any position and orientation to another.
UR - http://www.scopus.com/inward/record.url?scp=84856349212&partnerID=8YFLogxK
U2 - 10.1109/Humanoids.2011.6100863
DO - 10.1109/Humanoids.2011.6100863
M3 - Conference contribution
AN - SCOPUS:84856349212
SN - 9781612848679
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 614
EP - 621
BT - 2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
T2 - 2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
Y2 - 26 October 2011 through 28 October 2011
ER -