Articulated Object Modeling based on Visual and Haptic Observations

Wei Wang, Vasiliki Koropouli, Dongheui Lee, Kolja Kühnlenz

Abstract

Manipulation of articulated objects constitutes an important and hard challenge for robots. This paper proposes an approach to model articulated objects by integrating visual and haptic information. Line-shaped skeletonization based on depth image data is realized to extract the skeleton of an object given different configurations. Using observations of the extracted object’s skeleton topology, the kinematic joints of the object are characterized and localized. Haptic data in the form of task-space force required to manipulate the object, are collected by kinesthetic teaching and learned by Gaussian Mixture Regression in object joint state space. Following modeling, manipulation of the object is realized by first identifying the current object joint states from visual observations and second generalizing learned force to accomplish the new task.

References

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Paper Citation


in Harvard Style

Wang W., Koropouli V., Lee D. and Kühnlenz K. (2013). Articulated Object Modeling based on Visual and Haptic Observations . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2013) ISBN 978-989-8565-48-8, pages 253-259. DOI: 10.5220/0004280902530259


in Bibtex Style

@conference{visapp13,
author={Wei Wang and Vasiliki Koropouli and Dongheui Lee and Kolja Kühnlenz},
title={Articulated Object Modeling based on Visual and Haptic Observations},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2013)},
year={2013},
pages={253-259},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004280902530259},
isbn={978-989-8565-48-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2013)
TI - Articulated Object Modeling based on Visual and Haptic Observations
SN - 978-989-8565-48-8
AU - Wang W.
AU - Koropouli V.
AU - Lee D.
AU - Kühnlenz K.
PY - 2013
SP - 253
EP - 259
DO - 10.5220/0004280902530259