ICRA 2012 Paper Abstract

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Paper TuB03.4

Filippidis, Ioannis (National Technical University of Athens), Kyriakopoulos, Kostas (National Technical Univ. of Athens), Artemiadis, Panagiotis (Arizona State University)

Navigation Functions Learning from Experiments: Application to Anthropomorphic Grasping

Scheduled for presentation during the Regular Session "Grasp Planning" (TuB03), Tuesday, May 15, 2012, 11:15−11:30, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Motion and Path Planning

Abstract

This paper proposes a method to construct Navigation Functions (NF) from experimental trajectories in an unknown environment. We want to approximate an unknown obstacle function and then use it within an NF. When navigating the same destinations with the experiments, this NF should produce the same trajectories as the experiments. This requirement is equivalent to a partial differential equation (PDE). Solving the PDE yields the unknown obstacle function, expressed with spline basis functions.We apply this new method to anthropomorphic grasping, producing automatic trajectories similar to the observed ones. The grasping experiments were performed for a set of different objects, Principal Component Analysis (PCA) allows reduction of the configuration space dimension, where the learning NF method is then applied.

 

 

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