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Abstract
Dexterous grasping of objects with uncertain pose is a hard unsolved problem in robotics. This paper solves this problem using information gain re-planning. First we show how tactile information, acquired during a failed attempt to grasp an object can be used to refine the estimate of that object's pose. Second, we show how this information can be used to replan new reach to grasp trajectories for successive grasp attempts. Finally we show how reach-to-grasp trajectories can be modified, so that they maximise the expected tactile information gain, while simultaneously delivering the hand to the grasp configuration that is most likely to succeed. Our main novel outcome is thus to enable tactile information gain planning for Dexterous, high degree of freedom (DoFs) manipulators. We achieve this using a combination of information gain planning, hierarchical probabilistic roadmap planning, and belief updating from tactile sensors for objects with non-Gaussian pose uncertainty in 6 dimensions. The method is demonstrated in trials with simulated robots. Sequential replanning is shown to achieve a greater success rate than single grasp attempts, and trajectories that maximise information gain require fewer re-planning iterations than conventional planning methods before a grasp is achieved.
Original language | English |
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Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
Pages | 4013-4020 |
Number of pages | 8 |
DOIs | |
Publication status | Published - 2013 |
Event | 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: 3 Nov 2013 → 8 Nov 2013 |
Conference
Conference | 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 |
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Country/Territory | Japan |
City | Tokyo |
Period | 3/11/13 → 8/11/13 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Fingerprint
Dive into the research topics of 'Sequential trajectory re-planning with tactile information gain for dexterous grasping under object-pose uncertainty'. Together they form a unique fingerprint.Projects
- 1 Finished
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FP7_COLLAB_PACMAN
Wyatt, J. (Principal Investigator) & Leonardis, A. (Co-Investigator)
European Commission, European Commission - Management Costs
1/03/13 → 29/02/16
Project: Research