1Robotics and Biology Laboratory – Department of Computer ScienceRobotics and Biology Laboratory – Department of Computer Science

Dov Katz

Oliver Brock

June 1st, 2007

New England Manipulation Symposium

Extracting Planar Kinematic Models Using Interactive Perception

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Simulation vs. Reality

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René Magritte: Treachery of Images (1929)

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Interactive Perception

5Robotics and Biology Laboratory – Department of Computer Science

Image SegmentationFitzpatrick & Metta

2004 Tool AffordancesStoytchev

2005

Laws of MotionChristiansens,

Mason, Mitchell1991

Related Work: Perception Through Action

6Robotics and Biology Laboratory – Department of Computer Science

Can Interaction Help Perception?

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Objects with Inherent Degrees of Freedom

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Ingredients

Feature Tracking (Computer Vision)

Pushing Motion (Robotics)

Graph Algorithm

9Robotics and Biology Laboratory – Department of Computer Science

Basic Idea

10Robotics and Biology Laboratory – Department of Computer Science

Approximately Unchanged Distances

11Robotics and Biology Laboratory – Department of Computer Science

Clusters of the Graph

12Robotics and Biology Laboratory – Department of Computer Science

Highly Connected Subgraphs (HCS)

Hartuv & Shamir (1999)

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Kinematic Model

14Robotics and Biology Laboratory – Department of Computer Science

UMan – UMass Mobile Manipulator

15Robotics and Biology Laboratory – Department of Computer Science

Tools

16Robotics and Biology Laboratory – Department of Computer Science

Perception of Kinematic Model

17Robotics and Biology Laboratory – Department of Computer Science

Tool Use Based on Kinematic Model

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Degrees of Freedom

19Robotics and Biology Laboratory – Department of Computer Science

Tool Use

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Result

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Multi-Link Objects

22Robotics and Biology Laboratory – Department of Computer Science

Future Work: Planar Kinematic Models

23Robotics and Biology Laboratory – Department of Computer Science

Interactive Perception