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Planar batting under shape, pose, and impact uncertainty
J. Fu, S. Srinivasa, N. Pollard, and B. Nabbe
IEEE International Conference on Robotics and Automation (ICRA), April, 2007.

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This paper explores the planning and control of a manipulation task accomplished in conditions of high uncertainty. Statistical techniques, like particle filters, provide a framework for expressing the uncertainty and partial observability of the real world and taking actions to reduce them. We explore a classic manipulation problem of planar batting, but with a new twist of shape, pose and impact uncertainty. We demonstrate a technique for characterizing and reducing this uncertainty using a particle filter coupled with a lookahead planner that maximizes information gain. We show that a twostep planner that first acts for information gain and then acts to maximize the expectation of achieving a desired goal is effective at managing shape, pose and impact uncertainty.

Sponsor: NSF, Intel Summer Research Fellowship
Grant ID: CCF-0343161, IIS-0326322,CNS-0423546, and ECS-0325383

Associated center: CFR

Number of pages: 7

J. Fu, S. Srinivasa, N. Pollard, and B. Nabbe, "Planar batting under shape, pose, and impact uncertainty," IEEE International Conference on Robotics and Automation (ICRA), April, 2007.

@inproceedings{Fu_2007_5685,
   author = "Jiaxin Fu and Siddhartha Srinivasa and Nancy Pollard and Bart Nabbe",
   title = "Planar batting under shape, pose, and impact uncertainty",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
   month = "April",
   year = "2007"
}