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Título: | POMDP approach to robotized clothes separation |
Autor: | Monsó, Pol CSIC; Alenyà, Guillem CSIC ORCID ; Torras, Carme CSIC ORCID | Fecha de publicación: | 2012 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | IEEE/RSJ International Conference on Intelligent Robots and Systems: 1324-1329 (2012) | Resumen: | Rigid object manipulation with robots has mainly relied on precise, expensive models and deterministic sequences. Given the great complexity of accurately modeling deformable objects, their manipulation seems to call for a rather different approach. This paper proposes a probabilistic planner, based on a Partially Observable Markov Decision Process (POMDP), targeted at reducing the inherent uncertainty of deformable object sorting. It is shown that a small set of unreliable actions and inaccurate perceptions suffices to accomplish the task, provided faithful statistics on both of them are collected beforehand. The planner has been applied to a clothes sorting task in a real case context with a depth and color sensor and a robotic arm. Experimental results show the promise of the approach since more than 95% certainty of having isolated a piece of clothing is reached in an average of four steps for quite entangled initial clothing configurations. | Descripción: | Trabajo presentado al IROS celebrado en Vilamoura (Portugal) del 7 al 12 de octubre de 2012. | Versión del editor: | http://dx.doi.org/10.1109/IROS.2012.6386011 | URI: | http://hdl.handle.net/10261/96593 | DOI: | 10.1109/IROS.2012.6386011 | Identificadores: | doi: 10.1109/IROS.2012.6386011 isbn: 978-1-4673-1737-5 |
Aparece en las colecciones: | (IRII) Libros y partes de libros |
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