3 papers
cs.RO2016
Configuration Lattices for Planar Contact Manipulation Under Uncertainty
Michael C. Koval, David Hsu, Nancy S. Pollard +1
This work addresses the challenge of a robot using real-time feedback from contact sensors to reliably manipulate a movable object on a cluttered tabletop. We formulate contact man…
cs.RO2016
The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds
Matthew Klingensmith, Michael C. Koval, Siddhartha S. Srinivasa +2
We estimate the state a noisy robot arm and underactuated hand using an Implicit Manifold Particle Filter (MPF) informed by touch sensors. As the robot touches the world, its state…
cs.RO2012
Efficient Touch Based Localization through Submodularity
Shervin Javdani, Matthew Klingensmith, J. Andrew Bagnell +2
Many robotic systems deal with uncertainty by performing a sequence of information gathering actions. In this work, we focus on the problem of efficiently constructing such a seque…