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Inferring the Effects of Wiping Motions based on Haptic Perception

Leidner, Daniel and Beetz, Michael (2016) Inferring the Effects of Wiping Motions based on Haptic Perception. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robotics, 15-17 November 2016, Cancun, Mexico. doi: 10.1109/HUMANOIDS.2016.7803316.

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Future service robots are expected to achieve high-quality task performance for everyday household chores. Some of the most frequent tasks in this domain are related to wiping of surfaces, such as vacuuming the floor, sweeping dust, or cleaning windows. However, the performance for these tasks is not directly observable as small dirt particles, dust, and residual water are hardly perceivable by means of computer vision. In this work we propose to utilize haptic perception paired with a qualitative effect representation to reason about the task performance of robotic wiping motions despite poor visual information. In particular, we relate the desired contact force to the measured end-effector force in order to simulate the effect of previously executed wiping motions. This way we are not just able to distinguish good from bad contact situations, but also replan recovery motions w. r. t. the effect-space to accomplish the commanded cleaning task subsequently. We evaluate our approach in a set of experiments with the robot Rollin' Justin.

Item URL in elib:https://elib.dlr.de/107678/
Document Type:Conference or Workshop Item (Poster)
Title:Inferring the Effects of Wiping Motions based on Haptic Perception
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Date:15 November 2016
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:AI, Robotics, Force Feedback, Justin, Haptic Effect Inference, AI-based Reasoning
Event Title:IEEE-RAS International Conference on Humanoid Robotics
Event Location:Cancun, Mexico
Event Type:international Conference
Event Dates:15-17 November 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Leidner, Dr.-Ing. Daniel
Deposited On:30 Nov 2016 17:44
Last Modified:24 Jul 2023 08:00

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