000131424 001__ 131424 000131424 005__ 20240209155915.0 000131424 0247_ $$2doi$$a10.1109/IROS.2016.7759310 000131424 0248_ $$2sideral$$a97550 000131424 037__ $$aART-2016-97550 000131424 041__ $$aeng 000131424 100__ $$aNogueira, J. 000131424 245__ $$aUnscented Bayesian optimization for safe robot grasping 000131424 260__ $$c2016 000131424 5060_ $$aAccess copy available to the general public$$fUnrestricted 000131424 5203_ $$aSafe and robust grasping of unknown objects is a major challenge in robotics, which has no general solution yet. A promising approach relies on haptic exploration, where active optimization strategies can be employed to reduce the number of exploration trials. One critical problem is that certain optimal grasps discoverd by the optimization procedure may be very sensitive to small deviations of the parameters from their nominal values: we call these unsafe grasps because small errors during motor execution may turn optimal grasps into bad grasps. To reduce the risk of grasp failure, safe grasps should be favoured. Therefore, we propose a new algorithm, unscented Bayesian optimization, that performs efficient optimization while considering uncertainty in the input space, leading to the discovery of safe optima. The results highlight how our method outperforms the classical Bayesian optimization both in synthetic problems and in realistic robot grasp simulations, finding robust and safe grasps after a few exploration trials. 000131424 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000131424 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000131424 700__ $$0(orcid)0000-0002-6741-844X$$aMartinez-Cantin, R. 000131424 700__ $$aBernardino, A. 000131424 700__ $$aJamone, L. 000131424 773__ $$g2016 (2016), 1967-1972$$pProc. IEEE/RSJ Int. Conf. Intell. Rob. Syst.$$tProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems$$x2153-0858 000131424 8564_ $$s745113$$uhttps://zaguan.unizar.es/record/131424/files/texto_completo.pdf$$yPostprint 000131424 8564_ $$s3364645$$uhttps://zaguan.unizar.es/record/131424/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000131424 909CO $$ooai:zaguan.unizar.es:131424$$particulos$$pdriver 000131424 951__ $$a2024-02-09-14:27:44 000131424 980__ $$aARTICLE