000131436 001__ 131436
000131436 005__ 20240209155915.0
000131436 0247_ $$2doi$$a10.1109/IROS.2018.8594009
000131436 0248_ $$2sideral$$a108326
000131436 037__ $$aART-2019-108326
000131436 041__ $$aeng
000131436 100__ $$aCastanheira, Joao
000131436 245__ $$aFinding safe 3D robot grasps through efficient haptic exploration with unscented Bayesian optimization and collision penalty
000131436 260__ $$c2019
000131436 5060_ $$aAccess copy available to the general public$$fUnrestricted
000131436 5203_ $$aRobust grasping is a major, and still unsolved, problem in robotics. Information about the 3D shape of an object can be obtained either from prior knowledge (e.g., accurate models of known objects or approximate models of familiar objects) or real-time sensing (e.g., partial point clouds of unknown objects) and can be used to identify good potential grasps. However, due to modeling and sensing inaccuracies, local exploration is often needed to refine such grasps and successfully apply them in the real world. The recently proposed unscented Bayesian optimization technique can make such exploration safer by selecting grasps that are robust to uncertainty in the input space (e.g., inaccuracies in the grasp execution). Extending our previous work on 2D optimization, in this paper we propose a 3D haptic exploration strategy that combines unscented Bayesian optimization with a novel collision penalty heuristic to find safe grasps in a very efficient way: while by augmenting the search-space to 3D we are able to find better grasps, the collision penalty heuristic allows us to do so without increasing the number of exploration steps.
000131436 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000131436 592__ $$a0.897$$b2019
000131436 593__ $$aComputer Science Applications$$c2019
000131436 593__ $$aSoftware$$c2019
000131436 593__ $$aControl and Systems Engineering$$c2019
000131436 593__ $$aComputer Vision and Pattern Recognition$$c2019
000131436 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000131436 700__ $$aVicente, Pedro
000131436 700__ $$0(orcid)0000-0002-6741-844X$$aMartinez Cantin, Ruben$$uUniversidad de Zaragoza
000131436 700__ $$aJamone, Lorenzo
000131436 700__ $$aBernardino, Alexandre
000131436 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000131436 773__ $$g2018 (2019), 1643-1648$$pProc. IEEE/RSJ Int. Conf. Intell. Rob. Syst.$$tProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems$$x2153-0858
000131436 8564_ $$s1073021$$uhttps://zaguan.unizar.es/record/131436/files/texto_completo.pdf$$yPostprint
000131436 8564_ $$s3106118$$uhttps://zaguan.unizar.es/record/131436/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000131436 909CO $$ooai:zaguan.unizar.es:131436$$particulos$$pdriver
000131436 951__ $$a2024-02-09-14:28:20
000131436 980__ $$aARTICLE