A factorization approach to manipulation in unstructured environments

Springer Tracts in Advanced Robotics

Volumn 70, Issue STAR, 2011, Pages 285-300

  Katz, Dov ^a   Brock, Oliver ^a  

^a TECHNISCHE UNIVERSITÄT BERLIN   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ARTICULATED OBJECT; FACTORIZATION APPROACH; HIGH-DIMENSIONAL; ROBUST SOLUTIONS; STATE SPACE; SUB-PROBLEMS; UNSTRUCTURED ENVIRONMENTS;

FACTORIZATION; ROBOTICS;

PROBLEM SOLVING;

EID: 79958001041     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/978-3-642-19457-3_17     Document Type: Conference Paper

References (32)

1. Aloimonos, J., Weiss, I., Bandyopadhyay, A.: Active vision. International Journal of Computer Vision 1, 333-356 (1988)
2. Altendorfer, R., Moore, N., Komsuoglu, H., Buehler, M., Brown Jr., H.B., McMordie, D., Saranli, U., Full, R., Koditschek, D.E.: RHex: A Biologically Inspired Hexapod Runner. Autonomous Robots 11(3), 207-213 (2001)
3. Ashutosh Saxena, A.Y.N., Driemeyer, J.: Robotic grasping of novel objects using vision. International Journal of Robotics Research 27(2), 157-173 (2008)
4. Berenson, D., Srinivasa, S.: Grasp synthesis in cluttered environments for dexterous hands. In: Proceedings of the IEEE International Conference on Humanoid Robots (December 2008)
5. Berenson, D., Srinivasa, S., Ferguson, D., Kuffner, J.: Manipulation planning on constraint manifolds. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA (May 2009)
6. Bicchi, A., Kumar, V.: Robotics grasping and contact: A review. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA (2000)
7. Brooks, R.A.: A robust layered control system for a mobile robot. International Journal of Robotics and Automation RA-2(1), 14-23 (1986)
8. Brooks, R.A.: Intelligence without reason. Proceedings of the International Joint Conference on Artificial Intelligence 1, 569-595 (1991)
9. Dollar, A.M., Howe, R.D.: The sdm hand as a prosthetic terminal device: A feasibility study. In: Proceedings of the 2007 IEEE International Conference on Rehabilitation Robotics (ICORR), Noordwijk, Netherlands (2007)
10. Džeroski, S., de Raedt, L., Driessens, K.: Relational reinforcement learning. Machine Learning 43(1-3), 7-52 (2001)
11. Edsinger, A., Kemp, C.C.: Manipulation in human environments. In: Proceedings of the IEEE International Conference on Humanoid Robots (2006)
12. Gallagher, S.: How the Body Shapes the Mind. Oxford University Press, Oxford (2005)
13. Gibson, J.J.: The Senses Considered as Perceptual Systems. Greenwood Press, Westport (1983) (reprint)
14. Gibson, J.J.: The Ecological Approach to Visual Perception. Lawrence Erlbaum, Mahwah (1986)
15. Hutchinson, S., Hager, G., Corke, P.: A tutorial on visual control. IEEE Transactions on Robotics and Automation 12, 651-670 (1996)
16. Katz, D., Brock, O.: Manipulating articulated objects with interactive perception. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, USA (2008)
17. Katz, D., Pyuro, Y., Brock, O.: Learning to manipulate articulated objects in unstructured environments using a grounded relational representation. In: Proceedings of Robotics: Science and Systems IV, Zurich, Switzerland (June 2008)
18. Kenney, J., Buckley, T., Brock, O.: Interactive segmentation for manipulation in unstructured environments. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan (2009)
19. Mason, M.T.: Mechanics of Robotic Manipulation. MIT Press, Cambridge (2001)
20. Matula, D.W.: Determining edge connectivity in O(mn). In: Proceedings of the 28th Symp. on Foundations of Computer Science, pp. 249-251 (1987)
21. Nguyen, H., Anderson, C., Trevor, A., Jain, A., Xu, Z., Kemp, C.C.: El-E: An assistive robot that fetches objects from flat surfaces. In: HRIWorkshop on Robotic Helpers: User Interaction Interfaces and Companions in Assistive and Therapy Robots (2008)
22. Nguyen, H., Jain, A., Anderson, C., Kemp, C.C.: A clickable world: Behavior selection through pointing and context for mobile manipulation. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (2008)
23. Noë, A.: Action in Perception. MIT Press, Cambridge (2004)
24. Noë, A., Thompson, E. (eds.): Vision and Mind: Selected Readings in the Philosophy of Perception. MIT Press, Cambridge (2002)
25. O'Donohue, W., Kitchener, R. (eds.): Handbook of Behaviorism. Academic Press, London (1998)
26. Okamura, A.M., Smaby, N., Cutkosky, M.R.:An overview of dexterous manipulation. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), San Franscisco, USA, vol. 1, pp. 255-262 (2000)
27. Pfeifer, R., Iida, F.: Morphological computation: Connecting body, brain and environment. Japanese Scientific Monthly 58(2), 48-54 (2005)
28. Tadepalli, P., Givan, R., Driessens, K.: Relational reinforcement learning: An overview. In: Proceedings of the Workshop on Relational Reinfocement Learning at ICML 2004, Banff, Canada (2004)
29. Ullmann, J.R.: An algorithm for subgraph isomorphism. Journal of the ACM 23(1), 31-42 (1976)
30. van Otterlo, M.: A survey of reinforcement learning in relational domains. Technical Report TR-CTIT-05-31, Department of Computer Science, University of Twente, The Netherlands (July 2005)
31. Varela, F.J., Thompson, E., Rosch, E.: The Embodied Mind. MIT Press, Cambridge (2003)
32. Watkins, C.J.C.H., Dayan, P.: Q-learning. Machine Learning 8(3-4), 279-292 (1992)