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1 Robotics and Biology Laboratory – Department of Computer Science Dov Katz Oliver Brock June 1 st, 2007 New England Manipulation Symposium Extracting Planar Kinematic Models Using Interactive Perception
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2 Robotics and Biology Laboratory – Department of Computer Science Simulation vs. Reality
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3 Robotics and Biology Laboratory – Department of Computer Science René Magritte: Treachery of Images (1929)
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4 Robotics and Biology Laboratory – Department of Computer Science Interactive Perception Vision Active Vision Interactive Perception
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5 Robotics and Biology Laboratory – Department of Computer Science Image Segmentation Fitzpatrick & Metta 2004 Tool Affordances Stoytchev 2005 Laws of Motion Christiansens, Mason, Mitchell 1991 Related Work: Perception Through Action
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6 Robotics and Biology Laboratory – Department of Computer Science Can Interaction Help Perception?
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7 Robotics and Biology Laboratory – Department of Computer Science Objects with Inherent Degrees of Freedom
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8 Robotics and Biology Laboratory – Department of Computer Science Ingredients Feature Tracking (Computer Vision) Pushing Motion (Robotics) Graph Algorithm
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9 Robotics and Biology Laboratory – Department of Computer Science Basic Idea
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10 Robotics and Biology Laboratory – Department of Computer Science Approximately Unchanged Distances
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11 Robotics and Biology Laboratory – Department of Computer Science Clusters of the Graph
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12 Robotics and Biology Laboratory – Department of Computer Science Highly Connected Subgraphs (HCS) Hartuv & Shamir (1999)
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13 Robotics and Biology Laboratory – Department of Computer Science Kinematic Model
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14 Robotics and Biology Laboratory – Department of Computer Science UMan – UMass Mobile Manipulator
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15 Robotics and Biology Laboratory – Department of Computer Science Tools
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16 Robotics and Biology Laboratory – Department of Computer Science Perception of Kinematic Model
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17 Robotics and Biology Laboratory – Department of Computer Science Tool Use Based on Kinematic Model
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18 Robotics and Biology Laboratory – Department of Computer Science Degrees of Freedom
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19 Robotics and Biology Laboratory – Department of Computer Science Tool Use
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20 Robotics and Biology Laboratory – Department of Computer Science Result
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21 Robotics and Biology Laboratory – Department of Computer Science Multi-Link Objects
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22 Robotics and Biology Laboratory – Department of Computer Science Future Work: Planar Kinematic Models
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23 Robotics and Biology Laboratory – Department of Computer Science Interactive Perception
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