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Sensorless Pose Determination Using Randomized Action Sequences
This paper is a study of 2D manipulation without sensing and planning, by exploring the effects of unplanned randomized action sequences on 2D object pose uncertainty. Our approach follows the work of Erdmann and Mason’s sensorless reorienting of an object into a completely determined pose, regardle...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7514636/ https://www.ncbi.nlm.nih.gov/pubmed/33266870 http://dx.doi.org/10.3390/e21020154 |
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author | Mannam, Pragna Volkov, Alexander Paolini, Robert Chirikjian, Gregory Mason, Matthew T. |
author_facet | Mannam, Pragna Volkov, Alexander Paolini, Robert Chirikjian, Gregory Mason, Matthew T. |
author_sort | Mannam, Pragna |
collection | PubMed |
description | This paper is a study of 2D manipulation without sensing and planning, by exploring the effects of unplanned randomized action sequences on 2D object pose uncertainty. Our approach follows the work of Erdmann and Mason’s sensorless reorienting of an object into a completely determined pose, regardless of its initial pose. While Erdmann and Mason proposed a method using Newtonian mechanics, this paper shows that under some circumstances, a long enough sequence of random actions will also converge toward a determined final pose of the object. This is verified through several simulation and real robot experiments where randomized action sequences are shown to reduce entropy of the object pose distribution. The effects of varying object shapes, action sequences, and surface friction are also explored. |
format | Online Article Text |
id | pubmed-7514636 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-75146362020-11-09 Sensorless Pose Determination Using Randomized Action Sequences Mannam, Pragna Volkov, Alexander Paolini, Robert Chirikjian, Gregory Mason, Matthew T. Entropy (Basel) Article This paper is a study of 2D manipulation without sensing and planning, by exploring the effects of unplanned randomized action sequences on 2D object pose uncertainty. Our approach follows the work of Erdmann and Mason’s sensorless reorienting of an object into a completely determined pose, regardless of its initial pose. While Erdmann and Mason proposed a method using Newtonian mechanics, this paper shows that under some circumstances, a long enough sequence of random actions will also converge toward a determined final pose of the object. This is verified through several simulation and real robot experiments where randomized action sequences are shown to reduce entropy of the object pose distribution. The effects of varying object shapes, action sequences, and surface friction are also explored. MDPI 2019-02-06 /pmc/articles/PMC7514636/ /pubmed/33266870 http://dx.doi.org/10.3390/e21020154 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Mannam, Pragna Volkov, Alexander Paolini, Robert Chirikjian, Gregory Mason, Matthew T. Sensorless Pose Determination Using Randomized Action Sequences |
title | Sensorless Pose Determination Using Randomized Action Sequences |
title_full | Sensorless Pose Determination Using Randomized Action Sequences |
title_fullStr | Sensorless Pose Determination Using Randomized Action Sequences |
title_full_unstemmed | Sensorless Pose Determination Using Randomized Action Sequences |
title_short | Sensorless Pose Determination Using Randomized Action Sequences |
title_sort | sensorless pose determination using randomized action sequences |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7514636/ https://www.ncbi.nlm.nih.gov/pubmed/33266870 http://dx.doi.org/10.3390/e21020154 |
work_keys_str_mv | AT mannampragna sensorlessposedeterminationusingrandomizedactionsequences AT volkovalexander sensorlessposedeterminationusingrandomizedactionsequences AT paolinirobert sensorlessposedeterminationusingrandomizedactionsequences AT chirikjiangregory sensorlessposedeterminationusingrandomizedactionsequences AT masonmatthewt sensorlessposedeterminationusingrandomizedactionsequences |