Fast adaptation for effect-aware pushing

Abstract

In order to produce robots that are more capable of skilled manipulation tasks, they must learn meaningful knowledge of how objects behave to external stimulus. With this knowledge a robot can predict the outcome of an action, control the object to serve a particular purpose, and together with reasoning, create or modify robot plans. In this paper we 1) build a mathematical compact model for planar sliding motion of an object, 2) show how a robot acquires the parameters of such a model; then how this is used to 3) predict pushing actions; and 4) to move an object from any <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> position and orientation to another.