Robotics: Science and Systems VI
Task-Driven Tactile Exploration
K. Hsiao, L. Kaelbling and T. Lozano-PerezAbstract:
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.
Bibtex:
@INPROCEEDINGS{ Hsiao-RSS-10, 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} }