Robust grasping under object pose uncertainty

This paper presents a decision-theoretic approach to problems that require accurate placement of a robot relative to an object of known shape, such as grasping for assembly or tool use. The decision process is applied to a robot hand with tactile sensors, to localize the object on a table and ultimately achieve a target placement by selecting among a parameterized set of grasping and information-gathering trajectories. The process is demonstrated in simulation and on a real robot. This work has been previously presented in Hsiao et al. (Workshop on Algorithmic Foundations of Robotics (WAFR), 2008; Robotics Science and Systems (RSS), 2010) and Hsiao (Relatively robust grasping, Ph.D. thesis, Massachusetts Institute of Technology, 2009).

[1]  Randy E. Ellis.  Planning Tactile Recognition Paths in Two and Three Dimensions , 1992 .

[2]  Hugh F. Durrant-Whyte,et al.  A Bayesian Approach to Optimal Sensor Placement , 1990, Int. J. Robotics Res..

[3]  Kaijen Hsiao,et al.  Relatively robust grasping , 2009, ICAPS 2009.

[4]  Thierry Siméon,et al.  The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty , 2007, Robotics: Science and Systems.

[5]  M. Degroot.  Optimal Statistical Decisions , 1970 .

[6]  Oliver Brock,et al.  Sampling-Based Motion Planning With Sensing Uncertainty , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[7]  Giuseppe Oriolo,et al.  A Bayesian framework for optimal motion planning with uncertainty , 2008, 2008 IEEE International Conference on Robotics and Automation.

[8]  James J. Kuffner,et al.  OpenRAVE: A Planning Architecture for Autonomous Robotics , 2008 .

[9]  R. Khan,et al.  Sequential Tests of Statistical Hypotheses. , 1972 .

[10]  Tomás Lozano-Pérez,et al.  Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane , 1984, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[11]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[12]  Anthony Stentz,et al.  Planning with uncertainty in position an optimal and efficient planner , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Leslie Pack Kaelbling,et al.  Task-Driven Tactile Exploration , 2010, Robotics: Science and Systems.

[14]  Matthew T. Mason,et al.  Using Partial Sensor Information to Orient Parts , 1999, Int. J. Robotics Res..

[15]  Russell H. Taylor,et al.  Automatic Synthesis of Fine-Motion Strategies for Robots , 1984 .

[16]  T. Okada,et al.  Object recognition by grasping , 1977, Pattern Recognit..

[17]  Andreas Krause,et al.  Near-optimal Observation Selection using Submodular Functions , 2007, AAAI.

[18]  Reid G. Simmons,et al.  Particle RRT for Path Planning with Uncertainty , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[19]  Jason M. O'Kane,et al.  Probabilistic localization with a blind robot , 2008, 2008 IEEE International Conference on Robotics and Automation.

[20]  Russell H. Taylor,et al.  Sensor-based manipulation planning as a game with nature , 1988 .

[21]  Allison M. Okamura,et al.  Feature Detection for Haptic Exploration with Robotic Fingers , 2001, Int. J. Robotics Res..

[22]  Herman Bruyninckx,et al.  Bayesian Hybrid Model-State Estimation Applied to Simultaneous Contact Formation Recognition and Geometrical Parameter Estimation , 2005, Int. J. Robotics Res..

[23]  Andrew Y. Ng,et al.  Probabilistic Mobile Manipulation in Dynamic Environments, with Application to Opening Doors , 2007, IJCAI.

[24]  Leslie Pack Kaelbling,et al.  Planning and Acting in Partially Observable Stochastic Domains , 1998, Artif. Intell..

[25]  G. Swaminathan.  Robot Motion Planning , 2006 .

[26]  Venugopal V. Veeravalli,et al.  A sequential procedure for multihypothesis testing , 1994, IEEE Trans. Inf. Theory.

[27]  Peter K. Allen,et al.  Acquisition and interpretation of 3-D sensor data from touch , 1990, IEEE Trans. Robotics Autom..

[28]  Leslie Pack Kaelbling,et al.  Robust Belief-Based Execution of Manipulation Programs , 2008 .

[29]  Steven Skiena,et al.  Problems in geometric probing , 1989, Algorithmica.

[30]  Leslie Pack Kaelbling,et al.  Grasping POMDPs , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[31]  Ruzena Bajcsy,et al.  Object Recognition Using Vision and Touch , 1985, IJCAI.

[32]  Michael A. Erdmann.  Shape recovery from passive locally dense tactile data , 1998 .

[33]  Nicholas Roy,et al.  The Belief Roadmap: Efficient Planning in Linear POMDPs by Factoring the Covariance , 2007, ISRR.