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Estimating an Articulated Tool's Kinematics via Visuo-Tactile Based Robotic Interactive Manipulation
2018
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
The usage of articulated tools for autonomous robots is still a challenging task. One of the difficulties is to automatically estimate the tool's kinematics model. This model cannot be obtained from a single passive observation, because some information, such as a rotation axis (hinge), can only be detected when the tool is being used. Inspired by a baby using its hands while playing with an articulated toy, we employ a dual arm robotic setup and propose an interactive manipulation strategy
doi:10.1109/iros.2018.8594295
dblp:conf/iros/LiUHR18
fatcat:atb727j5rvbbdohdxuqvhbkc74