We present a skill for the perception of three-dimensional kinematic structures of rigid articulated bodies with revolute and prismatic joints. The ability to acquire such models autonomously is required for general manipulation in unstructured environments. Experiments on a mobile manipulation platform with real-world objects under varying lighting conditions demonstrate the robustness of the proposed method. This robustness is achieved by integrating perception and manipulation capabilities: the manipulator interacts with the environment to move an unknown object, thereby creating a perceptual signal that reveals the kinematic properties of the object. For good performance, the perceptual skill requires the presence of trackable visual features in the scene.
CITATION STYLE
Katz, D., Orthey, A., & Brock, O. (2014). Interactive perception of articulated objects. In Springer Tracts in Advanced Robotics (Vol. 79, pp. 301–315). Springer Verlag. https://doi.org/10.1007/978-3-642-28572-1_21
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