The following is a list of publications produced by HSI related faculty and students. The link for each paper leads you to the citation, keyword, and abstract. For copies of the full papers, please use standard methods for obtaining academic publications, such as online library searches.
Robot Manipulation of Human Tools: Autonomous Detection and Control of Task Relevant Features
Authors: A. Edsinger, C. Kemp
Abstract: The efficient acquisition and generalization of skills for manual tasks requires that a robot be able to perceive and control the important aspects of an object while ignoring irrelevant factors. For many tasks involving everyday tool-like objects, detection and control of the distal end of the object is sufficient for its use. For example, a robot could pour a substance from a bottle by controlling the position and orientation of the mouth. Likewise, the canonical tasks associated with a screwdriver, hammer, or pen rely on control of the tool’s tip. In this paper, we present methods that allow a robot to autonomously detect and control the tip of a tool-like object. We also show results for modeling the appearance of this important type of task relevant feature.
Citation: Aaron Edsinger and Charles C. Kemp. Robot Manipulation of Human Tools: Autonomous Detection and Control of Task Relevant Features. 5th IEEE International Conference on Development and Learning: Special Session on Classifying Activities in Manual Tasks (ICDL5), 2006.