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Published May 2013 | public
Book Section - Chapter

Interactive non-prehensile manipulation for grasping via POMDPs

Abstract

This paper develops a technique for an autonomous robot endowed with a manipulator arm, a multi-fingered gripper, and a variety of sensors to manipulate a known, but poorly observable object. We present a novel grasp planning method which not only incorporates the potential collision between object and manipulator, but takes advantage of this interaction. The natural uncertainty and difficulties in observation in such tasks is modeled as a Partially Observable Markov Decision Process (POMDP). Recent advances in point-based methods as well as a novel state space representation specific to the grasping problem are leveraged to overcome state space growth issues. Simulation results are presented for the combined localization, manipulation, and grasping of a small nut on a table.

Additional Information

© 2013 IEEE. This work was supported by a National Science Foundation Graduate Research Fellowship. Thanks go to Nick Hudson, for suggesting the problem and the ensuing discussions, as well as Kelsey Whitesell and Eric Wolff for suggestions.

Additional details

Created:
August 19, 2023
Modified:
October 26, 2023