Lau, Manfred and Mitani, Jun and Igarashi, Takeo (2011) Automatic learning of pushing strategy for delivery of irregular-shaped objects. In: Robotics and Automation (ICRA), 2011 IEEE International Conference on. IEEE Xplore, pp. 3733-3738. ISBN 978-1-61284-386-5
Full text not available from this repository.Abstract
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 robot's 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.
| Item Type: | Contribution in Book/Report/Proceedings |
|---|---|
| Uncontrolled Keywords: | Collision avoidance ; Humans ; Mobile robots ; Robot kinematics ; Shape ; Trajectory |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science |
| Departments: | Faculty of Science and Technology > School of Computing & Communications |
| ID Code: | 53465 |
| Deposited By: | ep_importer_pure |
| Deposited On: | 05 Apr 2012 15:58 |
| Refereed?: | No |
| Published?: | Published |
| Last Modified: | 26 Jul 2012 23:21 |
| Identification Number: | |
| URI: | http://eprints.lancs.ac.uk/id/eprint/53465 |
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