Interactive non-prehensile manipulation for grasping via POMDPs

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 3257-3264

  Horowitz, Matanya ^a   Burdick, Joel ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

GRASP PLANNING; MANIPULATOR ARMS; MULTI-FINGERED GRIPPERS; PARTIALLY OBSERVABLE MARKOV DECISION PROCESS; POINT-BASED METHODS; STATE SPACE REPRESENTATION;

ROBOT PROGRAMMING; STATE SPACE METHODS;

ROBOTICS;

EID: 84887264442     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6631031     Document Type: Conference Paper

References (26)

1. K. M. Lynch, "The Mechanics of Fine Manipulation by Pushing," in IEEE Int. Conf. on Robotics and Automation, 1992.
2. K. M. Lynch and M. T. Mason, "Controllability of pushing," in IEEE Int. Conf. on Robotics and Automation, 1995.
3. J. Wiegley, K. Goldberg, M. Peshkin, and M. Brokowski, "A Complete Algorithm for Designing Passive Fences to Orient Parts," in IEEE Int. Conf. on Robotics and Automation, 1996.
4. S. Akella and M. T. Mason, "Parts orienting with shape uncertainty," in 1998 IEEE Int. Conf. on Robotics and Automation, 1998.
5. M. A. Peshkin and A. C. Sanderson, "The motion of a pushed, sliding workpiece," IEEE Journal on Robotics and Automation, vol. 4, 1988.
6. K. M. Lynch, "Toppling Manipulation," in IEEE Int. Conf. on Robotics and Automation, 1999.
7. A. Bicchi, "Hands for dextrous manipulation and robust grasping: a difficult road toward simplicity," IEEE Trans. Robotics and Automation, vol. 16, 2008.
8. C. Rosales, R. Suarez, and A. Bicchi, "On the synthesis of feasible and prehensile robotics grasps," in IEEE Int. Conf. on Robotics and Automation, Shanghai, China, 2011.
9. A. T. Miller and P. K. Allen, "GraspIt!" IEEE Robotics &Automation Magazine, vol. 11, 2004.
10. C. Rosales, L. Ros, J. M. Porta, and R. Suarez, "Synthesizing Grasp Configurations with Specified Contact Regions," The Int. Journal of Robotics Research, 2010.
11. M. B. Horowitz and J. W. Burdick, "Combined grasp and manipulation planning as a trajectory optimization problem," in IEEE Int. Conf. on Robotics and Automation, 2012.
12. P. Hebert et al., "Fusion of stereo vision, force-torque, and joint sensors for estimation of in-hand object location," in IEEE Int. Conf. on Robotics and Automation, 2011.
13. -, "Combined shape, appearance, and silhouette for simultaneous manipulator and object tracking," in IEEE Int. Conf. on Robotics and Automation, 2012.
14. C. Corcoran and R. Platt, "A measurement model for tracking handobject state during dextrous manipulation," in Proc. IEEE Int. Conf. on Robotics and Automation, 2010.
15. K. Hsiao, L. P. Kaelbling, and T. Lozano-Perez, "Grasping POMDPs," in IEEE Int. Conf. on Robotics and Automation, 2007.
16. P. Hebert, T. Howard, N. Hudson, J. Ma, and J. Burdick, "The next best touch for model-based localization," in IEEE Int. Conf. on Robotics and Automation, 2013.
17. S. Javdani, M. Klingensmith, J. A. D. Bagnell, N. Pollard, and S. Srinivasa, "Efficient touch based localization through submodularity," Robotics Institute, Pittsburgh, PA, Tech. Rep. CMU-RI-TR-12-25, August 2012.
18. R. Platt, L. Kaelbling, and T. Lozano-Perez, "Simultaneous localization and grasping using belief space planning," IEEE Int. Conf. on Robotics and Automation, 2011.
19. C. H. Papadimitriou and J. Tsitsiklis, "The complexity of Markov decision processes," Mathematics of operations research, 1987.
20. H. Kurniawati, D. Hsu, and W. S. Lee, "SARSOP: Efficient pointbased POMDP planning by approximating optimally reachable belief spaces," Proc. Robotics: Science and Systems, 2008.
21. J. Pineau, G. Gordon, and S. Thrun, "Anytime Point-Based Approximations for Large POMDPs," Journal of Artificial Intelligence Research, 2006.
22. -, "Point-based value iteration: An anytime algorithm for POMDPs," Int. Joint Conf. on Artificial Intelligence, vol. 18, 2003.
23. M. Hauskrecht, "Value-function approximations for partially observable Markov decision processes," Journal of Artificial Intelligence Research, vol. 13, 2000.
24. M. A. Erdmann and M. T. Mason, "An exploration of sensorless manipulation," IEEE Journal on Robotics and Automation, vol. 4, 1988.
25. L. Li, T. J. Walsh, and M. L. Littman, "Towards a unified theory of state abstraction for MDPs," in Ninth Int. Symposium on Artificial Intelligence and Mathematics, 2006, pp. 531-539.
26. E. Coumans et al., "Bullet physics library," 2012. (Online). Available: http://www.bulletphysics.com/