Automatic Learning of Pushing Strategy for Delivery of Irregular-Shaped Objects

摘要：

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 learningbased 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.

作者: Manfred Lau Jun Mitani Takeo Igarashi

作者单位: JST ERATO Igarashi Design Interface Project,Tokyo,Japan

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3733-3738

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）