Robotics and Biology Lab Video

This video demonstrates some of the most recent work in the Robotics and Biology laboratory.

The first part of this video shows a new approach towards motion planning and robot control (The Elastic Roadmap).

The following three sequences show our framework for robot perception: Interactive Perception. In this framework, deliberate interactions in the environment are used to reveal new information, otherwise unavailable to the robot. The enriched perceptual stream is consequently used to improve further interactions with the environment.

In the first video, we demonstrate how interactions are used to facilitate object segmentation.
In the second video, deliberate interactions are used to reveal information about the kinematic structure of previously unknown objects.
The third video builds on top of the skill for acquiring kinematic information. In this video, we demonstrate our robot's ability to learn from past interactions to generalize about future actions. We show that our robot can effectively learn manipulation strategies, and gather experience to become increasingly better in interacting with its environment.

Credits: Dov Katz, Jacqueline Kenney, Yuandong Yang, and Oliver Brock

Category:

Science & Technology

Tags:

• Interactive Perception
• Interactive Segmentation
• Grounded Perception
• Elastic Roadmap
• Motion Planning
• Control

[dubikatz]

Hey Dave,

Having two arms is a great idea. Indeed, our newer robot has two arms, and they even have inherent compliance, which makes it easier for the robot to bump into things without breaking itself :-)

A perceptual task, roughly put, is a process of acquiring information about the world. We are particularly interested in cases where the robot does not have prior knowledge.

Check out the newest movie on the channel --- it shows an extension of this work into 3D objects!

[davepamn]

What defines a perceptual task?

The system uses object templates that contain motion information. The robot pokes the object with its arm separating the object from its background. Interaction by the robot records range of motion.

I think the robot should have two arms for testing range of motion of the object. It should test for useful ranges of motion on the object and pattern match to existing motion ranges to determine application. Have the robot solve the use of a socket wrench.