Home/A Data-Driven Statistical Framework for Post-Grasp Manipulation

A Data-Driven Statistical Framework for Post-Grasp Manipulation

Robert Paolini, Alberto Rodriguez, Siddhartha Srinivasa and Matthew T. Mason
Journal Article, Carnegie Mellon University, International Journal of Robotics Research (IJRR), Vol. 33, No. 4, pp. 600-615, April, 2014

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Grasping an object is usually only an intermediate goal for a robotic manipulator. To finish the task, the robot needs to know where the object is in its hand and what action to execute. This paper presents a general statistical framework to address these problems. Given a novel object, the robot learns a statistical model of grasp state conditioned on sensor values. The robot also builds a statistical model of the requirements for a successful execution of the task in terms of uncertainty in the state of the grasp. Both of these models are constructed by offline experiments. The online process then grasps objects and chooses actions to maximize likelihood of success. This paper describes the framework in detail, and demonstrates its effectiveness experimentally in placing, dropping, and insertion tasks. To construct statistical models, the robot performed over 8000 grasp trials, and over 1000 trials each of placing, dropping and insertion.

BibTeX Reference
@article{Paolini-2014-7855,
title = {A Data-Driven Statistical Framework for Post-Grasp Manipulation},
author = {Robert Paolini and Alberto Rodriguez and Siddhartha Srinivasa and Matthew T. Mason},
booktitle = {International Journal of Robotics Research (IJRR)},
school = {Robotics Institute , Carnegie Mellon University},
month = {April},
year = {2014},
volume = {33},
number = {4},
pages = {600-615},
address = {Pittsburgh, PA},
}
2017-09-13T10:39:02+00:00