1 robotics and biology laboratory – department of computer science dov katz oliver brock june 1...
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![Page 1: 1 Robotics and Biology Laboratory – Department of Computer Science Dov Katz Oliver Brock June 1 st, 2007 New England Manipulation Symposium Extracting](https://reader033.vdocuments.net/reader033/viewer/2022050714/56649d425503460f94a1dcab/html5/thumbnails/1.jpg)
1Robotics and Biology Laboratory – Department of Computer ScienceRobotics and Biology Laboratory – Department of Computer Science
Dov Katz
Oliver Brock
June 1st, 2007
New England Manipulation Symposium
Extracting Planar Kinematic Models Using Interactive Perception
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2Robotics and Biology Laboratory – Department of Computer Science
Simulation vs. Reality
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3Robotics and Biology Laboratory – Department of Computer Science
René Magritte: Treachery of Images (1929)
![Page 4: 1 Robotics and Biology Laboratory – Department of Computer Science Dov Katz Oliver Brock June 1 st, 2007 New England Manipulation Symposium Extracting](https://reader033.vdocuments.net/reader033/viewer/2022050714/56649d425503460f94a1dcab/html5/thumbnails/4.jpg)
4Robotics and Biology Laboratory – Department of Computer Science
Interactive Perception
![Page 5: 1 Robotics and Biology Laboratory – Department of Computer Science Dov Katz Oliver Brock June 1 st, 2007 New England Manipulation Symposium Extracting](https://reader033.vdocuments.net/reader033/viewer/2022050714/56649d425503460f94a1dcab/html5/thumbnails/5.jpg)
5Robotics and Biology Laboratory – Department of Computer Science
Image SegmentationFitzpatrick & Metta
2004 Tool AffordancesStoytchev
2005
Laws of MotionChristiansens,
Mason, Mitchell1991
Related Work: Perception Through Action
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6Robotics and Biology Laboratory – Department of Computer Science
Can Interaction Help Perception?
![Page 7: 1 Robotics and Biology Laboratory – Department of Computer Science Dov Katz Oliver Brock June 1 st, 2007 New England Manipulation Symposium Extracting](https://reader033.vdocuments.net/reader033/viewer/2022050714/56649d425503460f94a1dcab/html5/thumbnails/7.jpg)
7Robotics and Biology Laboratory – Department of Computer Science
Objects with Inherent Degrees of Freedom
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8Robotics and Biology Laboratory – Department of Computer Science
Ingredients
Feature Tracking (Computer Vision)
Pushing Motion (Robotics)
Graph Algorithm
![Page 9: 1 Robotics and Biology Laboratory – Department of Computer Science Dov Katz Oliver Brock June 1 st, 2007 New England Manipulation Symposium Extracting](https://reader033.vdocuments.net/reader033/viewer/2022050714/56649d425503460f94a1dcab/html5/thumbnails/9.jpg)
9Robotics and Biology Laboratory – Department of Computer Science
Basic Idea
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10Robotics and Biology Laboratory – Department of Computer Science
Approximately Unchanged Distances
![Page 11: 1 Robotics and Biology Laboratory – Department of Computer Science Dov Katz Oliver Brock June 1 st, 2007 New England Manipulation Symposium Extracting](https://reader033.vdocuments.net/reader033/viewer/2022050714/56649d425503460f94a1dcab/html5/thumbnails/11.jpg)
11Robotics and Biology Laboratory – Department of Computer Science
Clusters of the Graph
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12Robotics and Biology Laboratory – Department of Computer Science
Highly Connected Subgraphs (HCS)
Hartuv & Shamir (1999)
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13Robotics and Biology Laboratory – Department of Computer Science
Kinematic Model
![Page 14: 1 Robotics and Biology Laboratory – Department of Computer Science Dov Katz Oliver Brock June 1 st, 2007 New England Manipulation Symposium Extracting](https://reader033.vdocuments.net/reader033/viewer/2022050714/56649d425503460f94a1dcab/html5/thumbnails/14.jpg)
14Robotics and Biology Laboratory – Department of Computer Science
UMan – UMass Mobile Manipulator
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15Robotics and Biology Laboratory – Department of Computer Science
Tools
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16Robotics and Biology Laboratory – Department of Computer Science
Perception of Kinematic Model
![Page 17: 1 Robotics and Biology Laboratory – Department of Computer Science Dov Katz Oliver Brock June 1 st, 2007 New England Manipulation Symposium Extracting](https://reader033.vdocuments.net/reader033/viewer/2022050714/56649d425503460f94a1dcab/html5/thumbnails/17.jpg)
17Robotics and Biology Laboratory – Department of Computer Science
Tool Use Based on Kinematic Model
![Page 18: 1 Robotics and Biology Laboratory – Department of Computer Science Dov Katz Oliver Brock June 1 st, 2007 New England Manipulation Symposium Extracting](https://reader033.vdocuments.net/reader033/viewer/2022050714/56649d425503460f94a1dcab/html5/thumbnails/18.jpg)
18Robotics and Biology Laboratory – Department of Computer Science
Degrees of Freedom
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19Robotics and Biology Laboratory – Department of Computer Science
Tool Use
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20Robotics and Biology Laboratory – Department of Computer Science
Result
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21Robotics and Biology Laboratory – Department of Computer Science
Multi-Link Objects
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22Robotics and Biology Laboratory – Department of Computer Science
Future Work: Planar Kinematic Models
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23Robotics and Biology Laboratory – Department of Computer Science
Interactive Perception