Robotics: Science and Systems VI

Task-Driven Tactile Exploration

K. Hsiao, L. Kaelbling and T. Lozano-Perez


This paper presents a decision-theoretic approach to problems that require accurate placement of a robot relative to an object in the world, including grasping and insertion. The decision process is applied to a robot hand with tactile sensors, to localize the object and ultimately achieve a target placement by selecting among grasping and information-gathering trajectories. The process is demonstrated in simulation and on a real robot.



    AUTHOR    = {K. Hsiao AND L. Kaelbling AND T. Lozano-Perez},
    TITLE     = {Task-Driven Tactile Exploration},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2010},
    ADDRESS   = {Zaragoza, Spain},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2010.VI.029}