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
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: firstname.lastname@example.org
Received 12 October 2018, Accepted 14 November 2018, Available Online 30 March 2019.
- 10.2991/jrnal.k.190402.002How to use a DOI?
- Manipulation skill; importance rank; error recovery; error classification; task stratification
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.
- © 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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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 -