Reading Group

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Revision as of 20:17, 5 August 2010 by Cckemp (Talk | contribs) (Suggested Papers)

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Administrative Stuff

Machine Learning:

  • We will be meeting in HRL every Wednesday at noon.
  • Feel free to bring lunch and/or other snackies.

Force Control of Manipulators:

  • We will meet on Mondays at 11:00.


Machine Learning:

  • 6/9/2010: Jan Peters, Sethu Vijayakumar, Stefan Schaal. Reinforcement Learning for Humanoid Robotics. International Conference on Humanoid Robots 2003. pdf
  • 6/11/2010, 6/16/2010 Kober, J.; Peters, J. (2009). Learning Motor Primitives for Robotics, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) pdf
  • 6/23/2010 Jens Kober, and Jan Peters. Policy Search for Motor Primitives in Robotics. NIPS 2008 pdf
  • 6/30/2010 Thomas Ruckstieb, Martin Felder, Jurgen Schmidhuber. State-Dependent Exploration for Policy Gradient Methods. Machine Learning and Knowledge Discovery in Database (2008) pdf
  • 7/13/2010 Jens Kober, Erhan Oztop, and Jan Peters. Reinforcement Learning to adjust Robot Movements to New Situations. RSS 2010. pdf

Force Control of Manipulators:

Notes from JK Salisbury paper. June 21
  • Jun 21, 2010: J.K. Salisbury, "Active stiffness control of a manipulator in Cartesian coordinates," Proc. 19th IEEE Conference on Decision and Control, 1980.
  • Jun 25, 2010:
    • Look at the thumbnail, Notes from JK Salisbury paper.
    • Stuart Glaser's (Stu's) controller: There's no paper. For citations, please cite the wiki page for the teleop_controllers package and the stack version (pr2_cockpit 0.1). The best reference for how it works is the code (attached). The controller is a riff off of "Simplified Acceleration Based Control Variation 1" from this paper (Comparative experiments on task space control with redundancy resolution by Nakanishi, Cory, Mistry, Peters and Schaal, IROS 2005)
  • July 1, 2010:
    • Read the PR1 paper (pdf)
    • Old paper that the PR1 paper cites for gravity compensation with springs. (pdf)(Not very helpful)
    • Continue discussion on Ken Salisbury paper and EPC.

Authors to Read

Machine Learning:

Force Control of Manipulators:

For initial background

Suggested Papers

Machine Learning:

  • Fernando De la Torre's component analysis paper.
  • Choon Hui Teo, S. V. N. Vishwanathan, Alex J. Smola, and Quoc V. Le. Bundle Methods for Regularized Risk Minimization. Journal of Machine Learning Research, 11:311–365, January 2010. pdf
  • Jan Peters, Stefan Schaal. Policy Gradient Methods for Robotics. IROS 2006. pdf
  • Jan Peters, Stefan Schall. Learning to Control in Operational Space. IJRR 08. download from library website
  • Todd Hester, Michael Quinlan, and Peter Stone. Generalized Model Learning for Reinforcement Learning on a Humanoid Robot. In IEEE International Conference on Robotics and Automation (ICRA), May 2010. pdf video related work
  • Jonas Buchli, Evangelos Theodorou, Freek Stulp, Stefan Schaal. Variable Impedance Control A Reinforcement Learning Approac. Robotic Systems Science. pdf
  • Detry,R.; Baseski, E.; Popovic, M.; Touati, Y.; Krueger, N.; Kroemer, O.; Peters, J.; Piater, J. (2010). Learning Continuous Grasp Affordances by Sensorimotor Exploration, From Motor Learning to Interaction Learning in Robots, Springer Verlag, 264. pdf
  • Brian D. Ziebart, Andrew Maas, J. Andrew Bagnell, Anind K. Dey. Human Behavior Modeling with Maximum Entropy Inverse Optimal Control. AAAI Spring Symposium on Human Behavior Modeling. 2009 pdf

Force Control of Manipulators:

  • Neville Hogan, Impedance control: an approach to manipulation: parts 1,2, 3

Multi-contact Manipulation

  • Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots, Sentis, L. Park, J. Khatib, O. Page(s): 483 - 501 link

Visual Servoing

  • Survey on visual servoing for manipulation. D Kragic, HI Christensen

Skin Sensing

  • Tactile Sensing—From Humans to Humanoids. Dahiya, R.S. Metta, G. Valle, M. Sandini, G., Feb 2010, Volume: 26 Issue: 1. On page(s): 1 - 20 link
  • Tactile Sensing and Control of Robotic Manipulation. Robert D. Howe. Journal of Advanced Robotics, 8(3):245-261, 1994. pdf

Task-relevant Perception

  • Kei Okada, Mitsuharu Kojima, Satoru Tokutsu, Yuto Mori, Toshiaki Maki, Masayuki Inaba : "Task Guided Attention Control and Visual Verification in Tea Serving by the Daily Assistive Humanoid HRP2JSK", In Proceedings of The 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), pp 1551-1557, 2008. ((The 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems Best Robocup Award)) pdf
  • Kei Okada, Mitsuharu Kojima, Yuichi Sagawa, Toshiyuki Ichino, Kenji Sato, Masayuki Inaba : "Vision based behavior verification system of humanoid robot for daily environment tasks", 2006 6th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006), pp 7-12, 2006. (2006 6th IEEE-RAS International Conference on Humanoid Robots Best Paper Award) pdf


Healthcare Robotics

  • Applications of robots in rehabilitation. Stan A. Nappera and Ronald L. Seaman. Robotics and Autonomous Systems. Volume 5, Issue 3, November 1989, Pages 227-239. link