NDLI: Operating articulated objects based on experience

Content Provider	IEEE Xplore Digital Library
Author	Sturm, J. Jain, A. Stachniss, C. Kemp, C.C. Burgard, W.
Copyright Year	2010
Description	Author affiliation: Autonomous Intelligent Systems Lab, Institute of Computer Science, University of Freiburg, Germany (Sturm, J.; Stachniss, C.; Burgard, W.) \|\| Healthcare Robotics Lab, Georgia Tech, USA (Jain, A.; Kemp, C.C.)
Abstract	Many tasks that would be of benefit to users in domestic environments require that robots manipulate articulated objects such as doors and drawers. In this paper, we present a novel approach that simultaneously estimates the kinematic model of an articulated object based on the trajectory described by the robot's end effector, and uses this model to predict the future trajectory of the end effector. One advantage of our approach is that the robot can directly use these predictions to generate an equilibrium point control path for operating the mechanism. Additionally, our approach can improve these predictions based on previously learned articulation models. We have implemented and tested our approach on a real mobile manipulator. Through 40 trials, we show that the robot can reliably open various household objects, including cabinet doors, sliding doors, office drawers, and a dishwasher. Furthermore, we demonstrate that using the information from previous interactions as a prior significantly improves the prediction accuracy.
Starting Page	2739
Ending Page	2744
File Size	1648943
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5653813
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Data models Kinematics Predictive models Computational modeling End effectors
Content Type	Text
Resource Type	Article

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