L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Generalized Grasping and Manipulation Laboratory for Perceptual Robotics University of Massachusetts Amherst Robert Platt Jr., Andrew Fagg, Roderic Grupen 5/25/2005
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Motivation: Human Grasps from Mark Cutkosky, On Grasp Choice, Grasp Models, and the Design of Hands for Manufacturing Tasks, IEEE TRA Vol 5, No. 3, June 1989
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE 1.Grasp control 2.Control-based dexterous manipulation 3.Transport and grasp schemas (skills) Outline
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Opposition Space from The Grasping Hand, C. MacKenzie, T. Iberall, Springer, 1994
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Contact Parameterization of Grasp grasp 1,2,3 grasp left, right grasp left left, gravity grasp palm, fingertips Platt, R., Fagg, A., Grupen R., 2003
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Grasp artificial potential displaces contacts to descend wrench-closure error function: Grasp Control: grasp Coelho, J., Grupen, R., 1997; Platt, R., Fagg, A., Grupen R., 2002
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Sliding Grasp Control Video g k f Sliding Grasp Controller:
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Four Control Primitives f grasp control kinematic conditioning collision free motion force control m k g
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE f g m g k Combining Control Primitives k f Carry: Grasp: Platt, R., Fagg, A., Grupen R., 2004
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Controller Equivalence Classes: Common Suffix g k f g g k f k g k f m common suffix Platt, R., Fagg, A., Grupen R., 2004
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Experiment: Transport Schema
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Schematic Transport Skill
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Schematic Grasp Skills
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Definition of Schema The Action Schema defines: 1.“Abstract” states and actions 2.A deterministic policy through the abstract space to the schema goal 3.A one-to-many mapping from the abstract policy onto instantiations in the underlying system. Subject of learning: What instantiations are appropriate in what execution contexts?
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Localize-Reach-Grasp P(transition | blob parameters)
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Reach Primitives Position Orientation
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Pilot Results
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Pilot Results: Learning Curves (results averaged over three experiments.)
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Pilot Results: Frictional Surface
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Pilot Results: Bagging Groceries
L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Pilot Results: Bagging Groceries