NDLI: Learning prospective pick and place behavior

Content Provider	IEEE Xplore Digital Library
Author	Wheeler, D.S. Fagg, A.H. Grupen, R.A.
Copyright Year	2002
Description	Author affiliation: Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA (Wheeler, D.S.; Fagg, A.H.; Grupen, R.A.)
Abstract	When interacting with an object, the possible choices of grasping and manipulation operations are often limited by pick-and-place constraints. Traditional planning methods are analytical in nature and require geometric models of parts, fixtures and motions to identify and avoid the constraints. These methods can easily become computationally expensive and are often brittle under model or sensory uncertainty. In contrast, infants do not construct complete models of the objects that they manipulate, but instead appear to incrementally construct models based on interaction with the objects themselves. We propose that robotic pick-and-place operations can be formulated as prospective behavior and that an intelligent agent can use interaction with the environment to learn strategies which accommodate the constraints based on expected future success. We present experiments demonstrating this technique, and compare the strategies utilized by the agent to the behaviors observed in young children when presented with a similar task.
Sponsorship	AAAI Cognitive Sci. Soc. IEEE Comput. Soc. IEEE Neural Networks Soc. IEEE Robotics & Automation Soc
Starting Page	197
Ending Page	202
File Size	316249
Page Count	6
File Format	PDF
ISBN	0769514596
DOI	10.1109/DEVLRN.2002.1011865
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-06-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer science Pediatrics Solid modeling Uncertainty Humans Thumb Grasping Robot sensing systems Motion analysis Intelligent robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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