Login
Differences
This shows you the differences between two versions of the page.
| Both sides previous revision Previous revision Next revision | Previous revision | ||
|
members:sturmju:research:articulated [2011/07/12 11:18] sturmju |
members:sturmju:research:articulated [2012/01/20 12:02] (current) |
||
|---|---|---|---|
| Line 1: | Line 1: | ||
| + | ====== Learning Kinematic Models of Articulated Objects ====== | ||
| + | |||
| + | How can a manipulation robot robustly operate doors and drawers? | ||
| + | |||
| + | {{ : | ||
| + | |||
| + | Service robots operating in domestic environments are typically faced with a variety of objects they have to deal with to fulfill their tasks. Some of these objects are articulated such as cabinet doors and drawers, or room and garage doors. The ability to deal with such // | ||
| + | |||
| + | We developed a complete probabilistic framework that enables robots to learn kinematic models of articulated objects from observations of their motion. We combine parametric and nonparametric models consistently and utilize the advantages of both methods. As a result of our approach, a robot can robustly operate articulated objects in unstructured environments. As an illustrating example, consider the images below where a mobile manipulation robot interacts with various articulated objects in a kitchen environment, | ||
| + | |||
| + | All software is available open-source (including documentation and tutorials) on [[http:// | ||
| + | |||
| + | < | ||
| + | <iframe width=" | ||
| + | <iframe width=" | ||
| + | <iframe width=" | ||
| + | <iframe width=" | ||
| + | <iframe width=" | ||
| + | </ | ||
| + | |||
| + | ====== Related Publications ====== | ||
| + | |||
| + | < | ||
| + | < | ||
| + | < | ||
| + | </ | ||
