2 papers accepted to ICRA 2020
It is our pleasure to announce that two of our papers have been accepted to ICRA 2020 in Paris!
- Felix von Drigalski, Shohei Taniguchi, Robert Lee, Takamitsu Matsubara, Masashi Hamaya, Kazutoshi Tanaka and Yoshihisa Ijiri, “Contact-based in-hand pose estimation using Bayesian state estimation and particle filtering”, accepted to ICRA 2020 [PDF]
This paper deals with in-hand pose estimation for industrial tasks. It requires no modeling of the gripper or force sensing module — only a mesh or geometric description of the object that is grasped, and a way to determine contact with the environment. At each contact, the belief about the pose of the grasped object is updated.
This is a first step into pose estimation after grasping under uncertainty, and will be extended in further papers. A ROS package is planned to be released within the year. Future work includes combining multiple modalities (touch, vision) and combining grasping under uncertainty with the presented post-grasp pose estimation.
2. Masashi Hamaya, Robert Lee, Kazutoshi Tanaka, Felix von Drigalski, Chisato Nakashima, Yoshiya Shibata and Yoshihisa Ijiri, “Learning Robotic Assembly Tasks with Lower Dimensional Systems […]”, accepted to ICRA 2020
This second paper concerns the difficulty of learning contact-rich assembly tasks such as part insertion, where the dynamics of the system change very rapidly as the part makes contact and changes position. Future work includes improving the robustness against uncertain grasp positions and the extension to other tasks and parts. More information about this paper is to follow (patent pending).
These papers were written with the support of our interns Shohei Taniguchi, a Master’s student in Prof. Matsuo’s lab at the University of Tokyo, and Robert Lee, a PhD student at the Australian Center for Robotic Vision at Queensland University of Technology in Brisbane, Australia.
Are you a student interested in these topics and would like to work with us? Check out our call for interns and get in touch, and/or join our presentations and discuss the results at ICRA 2020 in Paris!
PS: Don’t miss the workshop on Debates on the Future of Robotics Research that we are co-organizing!
