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Interactive non-prehensile manipulation for grasping via POMDPs

Horowitz, Matanya and Burdick, Joel (2013) Interactive non-prehensile manipulation for grasping via POMDPs. In: 2013 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 3257-3264. ISBN 978-1-4673-5641-1.

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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.

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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.
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NSF Graduate Research FellowshipUNSPECIFIED
Record Number:CaltechAUTHORS:20140724-092855186
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Official Citation:Horowitz, M.; Burdick, J., "Interactive non-prehensile manipulation for grasping via POMDPs," Robotics and Automation (ICRA), 2013 IEEE International Conference on , vol., no., pp.3257,3264, 6-10 May 2013 doi: 10.1109/ICRA.2013.6631031 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:47459
Deposited By: Tony Diaz
Deposited On:24 Jul 2014 19:51
Last Modified:03 Oct 2019 06:53

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