Extracting Planar Kinematic Models Using Interactive Perception
Extracting Planar Kinematic Models Using Interactive Perception
复制标题
使用交互式感知提取平面运动学模型
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
O. Brock
中科院分区：
文献类型：
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作者：
Dov Katz;O. Brock
交互式感知通过物理交互来增强感知过程。通过将交互添加到感知过程中，操纵环境成为学习任务相关信息的努力的一部分，从而导致更可靠的任务执行。交互包括障碍物移除、对象重新定位和对象操纵。在本文中，我们展示了如何提取新的对象的运动学特性。人类环境中的许多物体，如门、抽屉和手动工具，都包含固有的运动自由度。这些自由度的知识是需要使用的对象在其预期的方式。我们演示了如何一个简单的算法，使这些对象的运动学模型的建设，导致这些对象的正确操作所需的知识。我们的实验结果表明，该框架的简单性及其有效性表明，交互式感知是自主移动的操纵的一种有前途的感知范式。
Interactive perception augments the process of perception with physical interactions. By adding interactions into the perceptual process, manipulating the environment becomes part of the effort to learn task-relevant information, leading to more reliable task execution. Interactions include obstruction removal, object repositioning, and object manipulation. In this paper, we show how to extract kinematic properties from novel objects. Many objects in human environments, such as doors, drawers, and hand tools, contain inherent kinematic degrees of freedom. Knowledge of these degrees of freedom is required to use the objects in their intended manner. We demonstrate how a simple algorithm enables the construction of kinematic models for such objects, resulting in knowledge necessary for the correct operation of those objects. The simplicity of the framework and its effectiveness, demonstrated in our experimental results, indicate that interactive perception is a promising perceptual paradigm for autonomous mobile manipulation.