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Probabilistic consolidation of grasp experience
KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. University of Liège.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
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2016 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, IEEE conference proceedings, 2016, 193-200 p.Conference paper (Refereed)
Abstract [en]

We present a probabilistic model for joint representation of several sensory modalities and action parameters in a robotic grasping scenario. Our non-linear probabilistic latent variable model encodes relationships between grasp-related parameters, learns the importance of features, and expresses confidence in estimates. The model learns associations between stable and unstable grasps that it experiences during an exploration phase. We demonstrate the applicability of the model for estimating grasp stability, correcting grasps, identifying objects based on tactile imprints and predicting tactile imprints from object-relative gripper poses. We performed experiments on a real platform with both known and novel objects, i.e., objects the robot trained with, and previously unseen objects. Grasp correction had a 75% success rate on known objects, and 73% on new objects. We compared our model to a traditional regression model that succeeded in correcting grasps in only 38% of cases.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2016. 193-200 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-197236DOI: 10.1109/ICRA.2016.7487133ISI: 000389516200024ScopusID: 2-s2.0-84977472359ISBN: 9781467380263 (print)OAI: oai:DiVA.org:kth-197236DiVA: diva2:1052719
Conference
2016 IEEE International Conference on Robotics and Automation, ICRA 2016, 16 May 2016 through 21 May 2016
Note

QC 20161207

Available from: 2016-12-07 Created: 2016-11-30 Last updated: 2017-01-19Bibliographically approved

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Detry, RenaudStork, Johannes A.Kragic, DanicaEk, Carl Henrik
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • asciidoc
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