Journal of Robotics, Networking and Artificial Life

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Volume 5, Issue 4, March 2019, Pages 283 - 288

Using Importance Ranks to Derive Suitable Timing of Visual Sensing in Manipulation Task Containing Error Recovery

Authors
Akira Nakamura1, *, Kazuyuki Nagata1, Kensuke Harada2, Yukiyasu Domae1
1Automation Research Team, Artificial Intelligence Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Koto-ku, Tokyo 135-0064 Japan
2Robotic Manipulation Research Group, Systems Innovation Department, Graduate School of Engineering Science, Osaka University, Toyonaka 560-8531, Japan
*Corresponding author. Email: a-nakamura@aist.go.jp
Corresponding Author
Akira Nakamura
Received 12 October 2018, Accepted 14 November 2018, Available Online 30 March 2019.
DOI
10.2991/jrnal.k.190402.002How to use a DOI?
Keywords
Manipulation skill; importance rank; error recovery; error classification; task stratification
Abstract

In general, a manipulation task can be composed of many skill primitives. Therefore, it is desirable to carry out plural visual sensing in most skill primitives; however, performing sensing all the time is difficult. In this paper, we propose the addition of importance ranks to the attribute of skill primitives in order to derive a suitable timing for performing sensing. Furthermore, we show that the skill primitives distinguished by their high importance ranks considerably correlates with error recovery.

Copyright
© 2019 The Authors. Published by Atlantis Press SARL.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

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<Previous Article In Issue
Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
5 - 4
Pages
283 - 288
Publication Date
2019/03/30
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
10.2991/jrnal.k.190402.002How to use a DOI?
Copyright
© 2019 The Authors. Published by Atlantis Press SARL.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

risenwbib
TY  - JOUR
AU  - Akira Nakamura
AU  - Kazuyuki Nagata
AU  - Kensuke Harada
AU  - Yukiyasu Domae
PY  - 2019
DA  - 2019/03/30
TI  - Using Importance Ranks to Derive Suitable Timing of Visual Sensing in Manipulation Task Containing Error Recovery
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 283
EP  - 288
VL  - 5
IS  - 4
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.k.190402.002
DO  - 10.2991/jrnal.k.190402.002
ID  - Nakamura2019
ER  -