Clearing a Pile of Unknown Objects using Interactive Perception

Abstract

We address the problem of clearing a pile of unknown objects using an autonomous interactive perception approach. Our robot hypothesizes the boundaries of objects in a pile of unknown objects (object segmentation) and verifies its hypotheses (object detection) using deliberate interactions. To guarantee the safety of the robot and the environment, we use compliant motion primitives for poking and grasping. Every verified segmentation hypothesis can be used to parameterize a compliant controller for manipulation or grasping. The robot alternates between poking actions to verify its segmentation and grasping actions to remove objects from the pile. We demonstrate our method with a robotic manipulator. We evaluate our approach with real-world experiments of clearing cluttered scenes composed of unknown objects.

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Document Details

Document Type
Technical Report
Publication Date
Nov 01, 2012
Accession Number
ADA568020

Entities

People

  • Anthony Stentz
  • Dov Katz
  • J. A. Bagnell
  • Moslem Kazemi

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Anti-Radiation Missiles
  • Boundaries
  • Center Of Gravity
  • Computer Stereo Vision
  • Computer Vision
  • Detection
  • Detectors
  • Environment
  • Failure Mode And Effect Analysis
  • Hypotheses
  • Manipulators
  • Motion Planning
  • Object Recognition
  • Perception
  • Point Clouds
  • Robotics

Fields of Study

  • Computer science

Readers

  • Facility/Structural Engineering.
  • Neural Network Machine Learning.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy