A Probabilistic Model for Planar Sliding of Objects with Unknown Material Properties: Identification and Robust Planning
Changkyu Song,Abdeslam Boularias,Changkyu Song,Abdeslam Boularias
This paper introduces a new technique for learning probabilistic models of mass and friction distributions of unknown objects, and performing robust sliding actions by using the learned models. The proposed method is executed in two consecutive phases. In the exploration phase, a table-top object is poked by a robot from different angles. The observed motions of the object are compared against sim...
