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

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3 Author(s)
Lau, M. ; JST ERATO Igarashi Design Interface Project, Tokyo, Japan ; Mitani, J. ; Igarashi, T.

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 non-parametric regression method. We demonstrate our approach with a number of irregular-shaped objects.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011

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