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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/12743

Title: Learning Manipulative Skills Using a POMDP Framework
Authors: Pratama, Ferdian
Jeong, Sungmoon
Chong, Nak Young
Keywords: destrous manipulation
skill learning
adaptive systems
Issue Date: 2014-11
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Magazine name: 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Start page: 169
End page: 175
DOI: 10.1109/URAI.2014.7057524
Abstract: Uncertainty is one of the most difficult factors to handle when we wish to develop an algorithm for robot motion planning in real circumstances. This paper presents a solution for a robot to deal with “lack of observation” in the scope of object manipulation. Considering a robotic bartender that picks up a glass filled with an unknown amount of water and tilts it to pour the water into empty glasses, the question is how to find the angle at which the giver glass is tilted to pour the water to the same level in each of empty receiver glasses. To achieve the objective, the amount of water poured is represented with mathematical models of non-linear functions, and numerical simulations are performed using the point-based value iteration algorithm for POMDP to get corresponding tilting angles of the giver glass. We found that the experimental result accuracy reaches 99:025% of similarity with the assumed mathematical model, given an initial tilting angle and the water level in the initial glass. We further verified the validity of the proposed algorithm through dynamic simulations.
Rights: This is the author's version of the work. Copyright (C) 2014 IEEE. 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2014, pp.169-175. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
URI: http://hdl.handle.net/10119/12743
Material Type: author
Appears in Collections:b11-1. 会議発表論文・発表資料 (Conference Papers)

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