Abstract

We present a machine learning methodology for actively controlling slip, in order to increase robot dexterity. Leveraging recent insights in deep learning, we propose a Deep Predictive Model that uses tactile sensor information to reason about slip and its future influence on the manipulated object. The obtained information is then used to precisely manipulate objects within a robot end-effector using external perturbations imposed by gravity or acceleration. We show in a set of experiments that this approach can be used to increase a robot's repertoire of motor skills.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3180-3185
Number of pages6
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
CountryAustralia
CityBrisbane
Period5/21/185/25/18

Fingerprint

Robots
End effectors
Learning systems
Gravitation
Sensors
Experiments
Deep learning

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Stepputtis, S., Yang, Y., & Ben Amor, H. (2018). Extrinsic dexterity through active slip control using deep predictive models. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 3180-3185). [8461055] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8461055

Extrinsic dexterity through active slip control using deep predictive models. / Stepputtis, Simon; Yang, Yezhou; Ben Amor, Hani.

2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 3180-3185 8461055 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Stepputtis, S, Yang, Y & Ben Amor, H 2018, Extrinsic dexterity through active slip control using deep predictive models. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8461055, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 3180-3185, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 5/21/18. https://doi.org/10.1109/ICRA.2018.8461055
Stepputtis S, Yang Y, Ben Amor H. Extrinsic dexterity through active slip control using deep predictive models. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 3180-3185. 8461055. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2018.8461055
Stepputtis, Simon ; Yang, Yezhou ; Ben Amor, Hani. / Extrinsic dexterity through active slip control using deep predictive models. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 3180-3185 (Proceedings - IEEE International Conference on Robotics and Automation).
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