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Adapting everyday manipulation skills to varied scenarios

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Adapting everyday manipulation skills to varied scenarios

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dc.contributor.author Gajewski, Paweł pl
dc.contributor.author Ferreira, Paulo pl
dc.contributor.author Bartels, Georg pl
dc.contributor.author Wang, Chaozheng pl
dc.contributor.author Guerin, Frank pl
dc.contributor.author Indurkhya, Bipin [SAP14011123] pl
dc.contributor.author Beetz, Michael pl
dc.contributor.author Śnieżyński, Bartłomiej pl
dc.date.accessioned 2020-05-14T21:50:22Z
dc.date.available 2020-05-14T21:50:22Z
dc.date.issued 2019 pl
dc.identifier.isbn 978-1-5386-8176-3 pl
dc.identifier.uri https://ruj.uj.edu.pl/xmlui/handle/item/155935
dc.language eng pl
dc.rights Udzielam licencji. Uznanie autorstwa - Użycie niekomercyjne - Bez utworów zależnych 4.0 Międzynarodowa *
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/4.0/pl/legalcode *
dc.title Adapting everyday manipulation skills to varied scenarios pl
dc.type BookSection pl
dc.pubinfo [Piscataway : IEEE] pl
dc.description.physical 1345-1351 pl
dc.abstract.en We address the problem of executing tool-using manipulation skills in scenarios where the objects to be used may vary. We assume that point clouds of the tool and target object can be obtained, but no interpretation or further knowledge about these objects is provided. The system must interpret the point clouds and decide how to use the tool to complete a manipulation task with a target object ; this means it must adjust motion trajectories appropriately to complete the task. We tackle three everyday manipulations : scraping material from a tool into a container, cutting, and scooping from a container. Our solution encodes these manipulation skills in a generic way, with parameters that can be filled in at runtime via queries to a robot perception module ; the perception module abstracts the functional parts of the tool and extracts key parameters that are needed for the task. The approach is evaluated in simulation and with selected examples on a PR2 robot. pl
dc.description.series Proceedings-IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729, eISSN 2577-087X pl
dc.description.publication 0,8 pl
dc.description.conftype international pl
dc.identifier.doi 10.1109/ICRA.2019.8793590 pl
dc.identifier.eisbn 978-1-5386-6027-0 pl
dc.identifier.eisbn 978-1-5386-6026-3 pl
dc.title.container 2019 International Conference on Robotics and Automation (ICRA) pl
dc.contributor.institution Institute of Electrical and Electronics Engineers pl
dc.language.container eng pl
dc.affiliation Wydział Filozoficzny : Instytut Filozofii pl
dc.subtype ConferenceProceedings pl
dc.conference International Conference on Robotics and Automation (ICRA); 2019-05-20; 2019-05-24; Montreal; Kanada; ; ; ;ICRA; pl
dc.rights.original CC-BY-NC-ND; otwarte repozytorium; ostateczna wersja wydawcy; po opublikowaniu; 6 pl
dc.identifier.project ROD UJ / OP pl
dc.identifier.project 15.11.230.318 pl
dc.publisher.ministerial Institute of Electrical and Electronics Engineers (IEEE) pl


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Udzielam licencji. Uznanie autorstwa - Użycie niekomercyjne - Bez utworów zależnych 4.0 Międzynarodowa Except where otherwise noted, this item's license is described as Udzielam licencji. Uznanie autorstwa - Użycie niekomercyjne - Bez utworów zależnych 4.0 Międzynarodowa