Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/151861
Title: ACT TO SEE AND SEE TO ACT: A ROBOTIC SYSTEM FOR OBJECT RETRIEVAL IN CLUTTER
Authors: LI JUEKUN
ORCID iD:   orcid.org/0000-0002-6296-1734
Keywords: Object Retrieval, Robotic System, Uncertainty, Perception, Control
Issue Date: 31-Oct-2018
Citation: LI JUEKUN (2018-10-31). ACT TO SEE AND SEE TO ACT: A ROBOTIC SYSTEM FOR OBJECT RETRIEVAL IN CLUTTER. ScholarBank@NUS Repository.
Abstract: Object retrieval in clutter is an extraordinary challenge for robots. The challenges come from the incomplete knowledge of the environment. A robot has imperfect sensing due to occlusion among objects. At the same time, it must physically interact with objects of unknown physical properties. We hypothesize that humans adopt the strategy of Act to See and See to Act to retrieve objects in clutter. We may rearrange (Act) objects to better understand (See) the scene, which in turn guides us to select better actions (Act) towards achieving the goal. This thesis adopts the same strategy that enables a robotic system to robustly and efficiently retrieve objects in clutter under uncertainties in sensing due to occlusion and uncertainties in control due to unknown objects’ physical properties, such as center of mass.
URI: http://scholarbank.nus.edu.sg/handle/10635/151861
Appears in Collections:Ph.D Theses (Open)

Show full item record
Files in This Item:
File Description SizeFormatAccess SettingsVersion 
LiJK.pdf47.99 MBAdobe PDF

OPEN

NoneView/Download

Page view(s)

11
checked on Apr 21, 2019

Download(s)

3
checked on Apr 21, 2019

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.