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
2Robotics and Biology Laboratory – Department of Computer Science
Simulation vs. Reality
3Robotics and Biology Laboratory – Department of Computer Science
René Magritte: Treachery of Images (1929)
4Robotics and Biology Laboratory – Department of Computer Science
Interactive Perception
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
6Robotics and Biology Laboratory – Department of Computer Science
Can Interaction Help Perception?
7Robotics and Biology Laboratory – Department of Computer Science
Objects with Inherent Degrees of Freedom
8Robotics and Biology Laboratory – Department of Computer Science
Ingredients
Feature Tracking (Computer Vision)
Pushing Motion (Robotics)
Graph Algorithm
9Robotics and Biology Laboratory – Department of Computer Science
Basic Idea
10Robotics and Biology Laboratory – Department of Computer Science
Approximately Unchanged Distances
11Robotics and Biology Laboratory – Department of Computer Science
Clusters of the Graph
12Robotics and Biology Laboratory – Department of Computer Science
Highly Connected Subgraphs (HCS)
Hartuv & Shamir (1999)
13Robotics and Biology Laboratory – Department of Computer Science
Kinematic Model
14Robotics and Biology Laboratory – Department of Computer Science
UMan – UMass Mobile Manipulator
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Tools
16Robotics and Biology Laboratory – Department of Computer Science
Perception of Kinematic Model
17Robotics and Biology Laboratory – Department of Computer Science
Tool Use Based on Kinematic Model
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Degrees of Freedom
19Robotics and Biology Laboratory – Department of Computer Science
Tool Use
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Result
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Multi-Link Objects
22Robotics and Biology Laboratory – Department of Computer Science
Future Work: Planar Kinematic Models
23Robotics and Biology Laboratory – Department of Computer Science
Interactive Perception