Put the Bear on the Chair! Intelligent Robot Interaction with Previously Unseen Chairs via Robot Imagination
Hongtao Wu,Xin Meng,Sipu Ruan,Gregory S. Chirikjian,Hongtao Wu,Xin Meng,Sipu Ruan,Gregory S. Chirikjian
In this paper, we study the problem of autonomously seating a teddy bear on a previously unseen chair. To achieve this goal, we present a novel method for robots to imagine the sitting pose of the bear by physically simulating a virtual humanoid agent sitting on the chair. We also develop a robotic system which leverages motion planning to plan SE(2) motions for a humanoid robot to walk to the cha...
