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dc.contributor.authorWang, Jiuguang
dc.contributor.authorRogers, Philip
dc.contributor.authorParker, Lonnie T.
dc.contributor.authorBrooks, Douglas Antwonne
dc.contributor.authorStilman, Mike
dc.date.accessioned2010-12-16T17:21:36Z
dc.date.available2010-12-16T17:21:36Z
dc.date.issued2009
dc.identifier.citationJ. Wang, P. Rogers, L. Parker, D. Brooks, and M. Stilman. Robot Jenga: Autonomous and Strategic Block Extraction. In IEEE-RAS International Conference on Intelligent Robots and Systems (IROS'09), 2009.en_US
dc.identifier.urihttp://hdl.handle.net/1853/36452
dc.description© 2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.description.abstractThis paper describes our successful implementation of a robot that autonomously and strategically removes multiple blocks from an unstable Jenga tower. We present an integrated strategy for perception, planning and control that achieves repeatable performance in this challenging physical domain. In contrast to previous implementations, we rely only on low-cost, readily available system components and use strategic algorithms to resolve system uncertainty. We present a three-stage planner for block extraction which considers block selection, extraction order, and physics-based simulation that evaluates removability. Existing vision techniques are combined in a novel sequence for the identification and tracking of blocks within the tower. Discussion of our approach is presented following experimental results on a 5-DOF robot manipulator.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectJengaen_US
dc.subjectEntertainment roboten_US
dc.subjectBlock extractionen_US
dc.subjectGame strategyen_US
dc.subjectMovable obstaclesen_US
dc.subjectPose estimationen_US
dc.titleRobot Jenga: Autonomous and Strategic Block Extractionen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.publisher.originalInstitute of Electrical and Electronics Engineers


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