Planar batting under shape, pose, and impact uncertainty - Robotics Institute Carnegie Mellon University

Planar batting under shape, pose, and impact uncertainty

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 336 - 342, April, 2007

Abstract

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.

BibTeX

@conference{Fu-2007-9688,
author = {Jiaxin Fu and Siddhartha Srinivasa and Nancy Pollard and Bart Nabbe},
title = {Planar batting under shape, pose, and impact uncertainty},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2007},
month = {April},
pages = {336 - 342},
}