ICRA 2011 Paper Abstract


Paper WeP109.5

Lau, Manfred (JST ERATO Igarashi Design Interface Project), Mitani, Jun (University of Tsukuba), Igarashi, Takeo (The University of Tokyo)

Automatic Learning of Pushing Strategy for Delivery of Irregular-Shaped Objects

Scheduled for presentation during the Regular Sessions "Motion and Path Planning III" (WeP109), Wednesday, May 11, 2011, 14:40−14:55, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Motion and Path Planning, Contact Modelling, Autonomous Navigation


Object delivery by pushing objects with mobile robots on a flat surface has been successfully demonstrated. However, existing methods can push objects that have a circular or rectangular shape. In this paper, we introduce a learning-based approach for pushing objects of any irregular shape to user-specified goal locations. We first automatically collect a set of data on how an irregular- shaped object moves given the robotís relative position and pushing direction. We collect this data with a randomized approach, and we demonstrate that this approach can successfully collect useful data. Object delivery is achieved by using the collected data with a nonparametric regression method. We demonstrate our approach with a number of irregular-shaped objects.



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