Manipulating articulated objects with interactive perception
Publication Date
2008
Journal or Book Title
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9
Abstract
Robust robotic manipulation and perception remains a difficult challenge, in particular in unstructured environments. To address this challenge, we propose to couple manipulation and perception. The robot observes its own deliberate interactions with the world. These interactions reveal sensory information that would otherwise remain hidden and facilitate the interpretation of perceptual data. To demonstrate the effectiveness of interactive perception we present a skill for the manipulation of articulated objects. We show how UMan, our mobile manipulation platform, obtains a kinematic model of an unknown object. The model then enables the robot to perform purposeful manipulation. Our algorithm is extremely robust, and does not require prior knowledge of the object; it is insensitive to lighting, texture, color, specularities, background, and is computationally highly efficient.
DOI
https://doi.org/10.1109/ROBOT.2008.4543220
Pages
272-277
Book Series Title
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
Recommended Citation
Katz, D and Brock, O, "Manipulating articulated objects with interactive perception" (2008). 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9. 393.
https://doi.org/10.1109/ROBOT.2008.4543220