Show simple item record

dc.contributor.authorHermans, Tucker
dc.contributor.authorLi, Fuxin
dc.contributor.authorRehg, James M.
dc.contributor.authorBobick, Aaron F.
dc.date.accessioned2014-04-11T15:47:16Z
dc.date.available2014-04-11T15:47:16Z
dc.date.issued2013-10
dc.identifier.citationHermans, T.; Li, F.; Rehg, J.M. & Bobick, A. F. (2013). "Learning Contact Locations for Pushing and Orienting Unknown Objects". Proceedings of the IEEE-RAS International Conference on Humanoid Robotics (Humanoids) 2013, pp. 435-442.en_US
dc.identifier.isbn978-1-4799-2617-6
dc.identifier.issn2164-0572
dc.identifier.urihttp://hdl.handle.net/1853/51586
dc.description© 2013 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.descriptionDOI: 10.1109/HUMANOIDS.2013.7030011
dc.description.abstractWe present a method by which a robot learns to predict effective contact locations for pushing as a function of object shape. The robot performs push experiments at many contact locations on multiple objects and records local and global shape features at each point of contact. Each trial attempts to either push the object in a straight line or to rotate the object to a new orientation. The robot observes the outcome trajectories of the manipulations and computes either a push-stability or rotate-push score for each trial. The robot then learns a regression function for each score in order to predict push effectiveness as a function of object shape. With this mapping, the robot can infer effective push locations for subsequent objects from their shapes, regardless of whether they belong to a previously encountered object class. These results are demonstrated on a mobile manipulator robot pushing a variety of household objects on a tabletop surface.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectContact locationsen_US
dc.subjectGlobal shape featuresen_US
dc.subjectLocal shape featuresen_US
dc.subjectMobile manipulator roboten_US
dc.subjectPushingen_US
dc.subjectStable pushing locationsen_US
dc.subjectSupport vector regressionen_US
dc.subjectTable frameen_US
dc.titleLearning Contact Locations for Pushing and Orienting Unknown Objectsen_US
dc.typePost-printen_US
dc.typeProceedings
dc.contributor.corporatenameGeorgia Institute of Technology. College of Computingen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Interactive Computingen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.identifier.doi10.1109/HUMANOIDS.2013.7030011
dc.embargo.termsnullen_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record