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Sequential trajectory re-planning with tactile information gain for dextrous grasping under object-pose uncertainty

Zito, Claudio and Kopicki, Marek S. and Stolkin, Rustam and Borst, Christoph and Schmidt, Florian and Roa, Maximo A. and Wyatt, Jeremy L. (2013) Sequential trajectory re-planning with tactile information gain for dextrous grasping under object-pose uncertainty. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4013-4020. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS, 3-8 Nov. 2013, Tokyo, Japan.

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6696930

Abstract

Dexterous grasping of objects with uncertain pose is a hard unsolved problem in robotics. This paper solves this problem using information gain re-planning. First we show how tactile information, acquired during a failed attempt to grasp an object can be used to refine the estimate of that object’s pose. Second, we show how this information can be used to replan new reach to grasp trajectories for successive grasp attempts. Finally we show how reach-to-grasp trajectories can be modified, so that they maximise the expected tactile information gain, while simultaneously delivering the hand to the grasp configuration that is most likely to succeed. Our main novel outcome is thus to enable tactile information gain planning for Dexterous, high degree of freedom (DoFs) manipulators. We achieve this using a combination of information gain planning, hierarchical probabilistic roadmap planning, and belief updating from tactile sensors for objects with non-Gaussian pose uncertainty in 6 dimensions. The method is demonstrated in trials with simulated robots. Sequential replanning is shown to achieve a greater success rate than single grasp attempts, and trajectories that maximise information gain require fewer re-planning iterations than conventional planning methods before a grasp is achieved.

Item URL in elib:https://elib.dlr.de/87396/
Document Type:Conference or Workshop Item (Speech)
Title:Sequential trajectory re-planning with tactile information gain for dextrous grasping under object-pose uncertainty
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Zito, Claudiocxz004 (at) cs.bham.ac.ukUNSPECIFIED
Kopicki, Marek S.msk (at) cs.bham.ac.ukUNSPECIFIED
Stolkin, Rustamstolkinr (at) cs.bham.ac.ukUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Schmidt, FlorianFlorian.Schmidt (at) dlr.deUNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
Wyatt, Jeremy L.jlw (at) cs.bham.ac.ukUNSPECIFIED
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 4013-4020
Series Name:Proceedings of IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS
Status:Published
Keywords:dexterous grasping, pose uncertainty
Event Title:IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:3-8 Nov. 2013
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:10 Jan 2014 11:34
Last Modified:09 Feb 2017 19:20

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