Grope and Hope Matthew T. Mason Dagstuhl Workshop on Multimodal - PowerPoint PPT Presentation

Grope and Hope Matthew T. Mason Dagstuhl Workshop on Multimodal Manipulation Under Uncertainty October 2015

Thanks!

collaborators and sponsors Robbie Paolini Alberto Rodriguez with thanks to 
 Nikhil Chavan-Dafle Jeff Trinkle for the title Annie Holladay Weiwei Wan Laura Herlant National Science Foundation Siddhartha Srinivasa DARPA Mike Erdmann Army Research Office Marc Raibert ABB Tomas Lozano-Perez Zhiwei Zhang Erol Sahin

Human hand General Human-operated simple hands Toolomorphism Anthropomorphic robot hands Anthropomorphism Factory Specialized grippers Simple Complex

An inspiration: the pickup tool

Pickup tool philosophy • Let the fingers fall where they may • Instead of “put the fingers in the right place”. • Grasp first, ask questions later • Instead of knowing pose in advance, and avoiding object motion during grasp. • Grope and hope

Simplicity, Generality, Robotics Dagstuhl 2009

Most significant grasp types.

37.7 31.4 25.2 18.9 12.6 6.4 0.1 12.6 37.7 25.2 25.2 • SVM 37.7 12.6 50.2 • Gaussian kernel • Minimize misclassifications and maximize margin for correctly classified examples.

Singulation SVM, Gaussian kernel, 
 leave half out cross validation, 
 mean accuracy: 92.9% Orientation K nearest neighbors, 
 leave one out cross-validation, 
 mean error: 8.4°

The MLab Hand’s 
 approach to haptic perception • Skin receptors? 
 No • Intrinsic tactile sensing? [Bicchi & Dario 1987] 
 A generalization 


Hyperintrinsic tactile sensing • Exclude unstable poses • Use proprioceptors to get the last few bits • Is wholly intrinsic tactile sensing possible? Determine pose with zero sensory bits?