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Automatic learning of pushing strategy for delivery of irregular-shaped objects

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Publication date2011
Host publicationRobotics and Automation (ICRA), 2011 IEEE International Conference on
PublisherIEEE Xplore
Pages3733-3738
Number of pages6
ISBN (Print)978-1-61284-386-5
<mark>Original language</mark>English
EventIEEE International Conference on Robotics and Automation (ICRA) - , China
Duration: 9/05/2011 → …

Conference

ConferenceIEEE International Conference on Robotics and Automation (ICRA)
Country/TerritoryChina
Period9/05/11 → …

Conference

ConferenceIEEE International Conference on Robotics and Automation (ICRA)
Country/TerritoryChina
Period9/05/11 → …

Abstract

Object delivery by pushing objects with mobile robots on a flat surface has been successfully demonstrated. However, existing methods can push objects that have a circular or rectangular shape. In this paper, we introduce a learning-based approach for pushing objects of any irregular shape to user-specified goal locations. We first automatically collect a set of data on how an irregular-shaped object moves given the robot's relative position and pushing direction. We collect this data with a randomized approach, and we demonstrate that this approach can successfully collect useful data. Object delivery is achieved by using the collected data with a nonparametric regression method. We demonstrate our approach with a number of irregular-shaped objects.