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End-to-end dexterous manipulation with deliberate interactive estimation

Hudson, Nicolas and Howard, Thomas and Ma, Jeremy and Jain, Abhinandan and Bajracharya, Max and Myint, Steven and Kuo, Calvin and Matthies, Larry and Backes, Paul and Hebert, Paul and Fuchs, Thomas and Burdick, Joel (2012) End-to-end dexterous manipulation with deliberate interactive estimation. In: 2012 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 2371-2378. ISBN 978-1-4673-1405-3. http://resolver.caltech.edu/CaltechAUTHORS:20170206-173852903

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Abstract

This paper presents a model based approach to autonomous dexterous manipulation, developed as part of the DARPA Autonomous Robotic Manipulation (ARM) program. The developed autonomy system uses robot, object, and environment models to identify and localize objects, and well as plan and execute required manipulation tasks. Deliberate interaction with objects and the environment increases system knowledge about the combined robot and environmental state, enabling high precision tasks such as key insertion to be performed in a consistent framework. This approach has been demonstrated across a wide range of manipulation tasks, and in independent DARPA testing archived the most successfully completed tasks with the fastest average task execution of any evaluated team.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2012.6225101DOIArticle
http://ieeexplore.ieee.org/document/6225101/PublisherArticle
Additional Information:© 2012 IEEE. The research described in this publication was carried out at the Jet Propulsion Laboratory, California Institute of Technology, with funding from the DARPA Autonomous Robotic Manipulation Software Track (ARM-S) program through an agreement with NASA.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
NASA/JPL/CaltechUNSPECIFIED
Record Number:CaltechAUTHORS:20170206-173852903
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20170206-173852903
Official Citation:N. Hudson et al., "End-to-end dexterous manipulation with deliberate interactive estimation," 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, 2012, pp. 2371-2378. doi: 10.1109/ICRA.2012.6225101
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:74116
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:07 Feb 2017 15:41
Last Modified:13 Jun 2019 17:07

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