Title :
Abort and retry in grasping
Author :
Rodriguez, Alberto ; Mason, Matthew T. ; Srinivasa, Siddhartha S. ; Bernstein, Matthew ; Zirbel, Alex
Author_Institution :
The Robotics Institute - Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA
Abstract :
Iteration is often sufficient for a simple hand to accomplish complex tasks, at the cost of an increase in the expected time to completion. In this paper, we minimize that overhead time by allowing a simple hand to abort early and retry as soon as it realizes that the task is likely to fail. We present two key contributions. First, we learn a probabilistic model of the relationship between the likelihood of success of a grasp and its grasp signature—the trace of the state of the hand along the entire grasp motion. Second, we model the iterative process of early abort and retry as a Markov chain and optimize the expected time to completion of the grasping task by effectively thresholding the likelihood of success. Experiments with our simple hand prototype tasked with grasping and singulating parts from a bin show that early abort and retry significantly increases efficiency.
Keywords :
Grasping; Image color analysis; Image edge detection; Markov processes; Probabilistic logic; Robots; Tin;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6095100