Learning Kinematic Models for Articulated Objects

Sturm, Jürgen; Pradeep, Vijay; Stachniss, Cyrill; Plagemann, Christian; Konolige, Kurt; Burgard, Wolfram

Learning Kinematic Models for Articulated Objects

Jürgen Sturm, Vijay Pradeep, Cyrill Stachniss, Christian Plagemann, Kurt Konolige, Wolfram Burgard

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Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence. Pages 1851-1855.

Abstract

Robots operating in home environments must be able to interact with articulated objects such as doors or drawers. Ideally, robots are able to autonomously infer articulation models by observation. In this paper, we present an approach to learn kinematic models by inferring the connectivity of rigid parts and the articulation models for the corresponding links. Our method uses a mixture of parameterized and parameter-free (Gaussian process) representations and finds low-dimensional manifolds that provide the best explanation of the given observations. Our approach has been implemented and evaluated using real data obtained in various realistic home environment settings.Jürgen Sturm, Vijay Pradeep, Cyrill Stachniss, Christian Plagemann, Kurt Konolige, Wolfram Burgard

Jürgen Sturm, Vijay Pradeep, Cyrill Stachniss, Christian Plagemann, Kurt Konolige, and Wolfram Burgard. 2009. Learning Kinematic Models for Articulated Objects. In Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence, IJCAI-09. IJCAI, 1851–1855. https://ijcai.org/proceedings/2009/307

@inproceedings{ijcai2009p307,
  title     = {Learning Kinematic Models for Articulated Objects},
  author    = {Sturm, Jürgen and Pradeep, Vijay and Stachniss, Cyrill and Plagemann, Christian and Konolige, Kurt and Burgard, Wolfram},
  booktitle = {Proceedings of the Twenty-First International Joint Conference on
               Artificial Intelligence, {IJCAI-09}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Hiroaki Kitano},
  pages     = {1851--1855},
  year      = {2009},
  url       = {https://ijcai.org/proceedings/2009/307},
}

TY  - CPAPER
TI  - Learning Kinematic Models for Articulated Objects
AU  - Sturm, Jürgen
AU  - Pradeep, Vijay
AU  - Stachniss, Cyrill
AU  - Plagemann, Christian
AU  - Konolige, Kurt
AU  - Burgard, Wolfram
T2  - Proceedings of the Twenty-First International Joint Conference on Artificial Intelligence, IJCAI-09
PB  - International Joint Conferences on Artificial Intelligence
PY  - 2009
SP  - 1851
EP  - 1855
UR  - https://ijcai.org/proceedings/2009/307
ER  -