Adapting Everyday Manipulation Skills to Varied Scenarios

Pawel Gajewski; Paulo Ferreira; Georg Bartels; Chaozheng Wang; Frank Guerin; Bipin Indurkhya; Michael Beetz; Bartlomiej Sniezynski

doi:10.1109/ICRA.2019.8793590

Conference proceeding

Adapting Everyday Manipulation Skills to Varied Scenarios

Pawel Gajewski, Paulo Ferreira, Georg Bartels, Chaozheng Wang, Frank Guerin, Bipin Indurkhya, Michael Beetz and Bartlomiej Sniezynski

2019 International Conference on Robotics and Automation (ICRA), Vol.2019, pp.1345-1351

2019 International Conference on Robotics and Automation (ICRA 2019) (Montreal, Quebec, Canada, 20/05/2019 - 24/05/2019)

05/2019

DOI: https://doi.org/10.1109/ICRA.2019.8793590

Abstract

Three-dimensional displays

Tools

Containers

Trajectory

Task analysis

Robots

Dairy Products

We address the problem of executing tool-using manipulation skills in scenarios where the objects to be used may vary. We assume that point clouds of the tool and target object can be obtained, but no interpretation or further knowledge about these objects is provided. The system must interpret the point clouds and decide how to use the tool to complete a manipulation task with a target object; this means it must adjust motion trajectories appropriately to complete the task. We tackle three everyday manipulations: scraping material from a tool into a container, cutting, and scooping from a container. Our solution encodes these manipulation skills in a generic way, with parameters that can be filled in at run-time via queries to a robot perception module; the perception module abstracts the functional parts of the tool and extracts key parameters that are needed for the task. The approach is evaluated in simulation and with selected examples on a PR2 robot.

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Title: Adapting Everyday Manipulation Skills to Varied Scenarios
Creators: Pawel Gajewski - AGH University of Science and Technology, al. Mickiewicza 30, Krakow, 30-059, Poland
Paulo Ferreira - School of Computer Science, University of Birmingham, Birmingham, B15 2TT, England
Georg Bartels - Universitat Bremen, Am Fallturm 1, 28359 Bremen, German
Chaozheng Wang - Department of Computing Science, University of Aberdeen, Aberdeen, Scotland
Frank Guerin - University of Surrey, Department of Computer Science
Bipin Indurkhya - AGH University of Science and Technology, al. Mickiewicza 30, Krakow, 30-059, Poland
Michael Beetz - Universität Bremen, Am Fallturm 1, Bremen, 28359, Germany
Bartlomiej Sniezynski - AGH University of Science and Technology, al. Mickiewicza 30, Krakow, 30-059, Poland
Publication Details: 2019 International Conference on Robotics and Automation (ICRA), Vol.2019, pp.1345-1351
Conference: 2019 International Conference on Robotics and Automation (ICRA 2019) (Montreal, Quebec, Canada, 20/05/2019 - 24/05/2019)
Publisher: IEEE
Date published: 05/2019
Grant note: This work is partially funded by: (1) AGH University of Science and Technology, grant No 15.11.230.318. (2) Deutsche Forschungsgemeinschaft (DFG) through the Collaborative Research Center 1320, EASE. (3) Elphinstone Scholarship from University of Aberdeen.
Identifiers: 99544323502346
Academic Unit: Department of Computer Science
Language: English
Resource Type: Conference proceeding

Adapting Everyday Manipulation Skills to Varied Scenarios

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