Title:
Robot Jenga: Autonomous and Strategic Block Extraction
Robot Jenga: Autonomous and Strategic Block Extraction
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Author(s)
Wang, Jiuguang
Rogers, Philip
Parker, Lonnie T.
Brooks, Douglas Antwonne
Stilman, Mike
Rogers, Philip
Parker, Lonnie T.
Brooks, Douglas Antwonne
Stilman, Mike
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Abstract
This paper describes our successful implementation
of a robot that autonomously and strategically removes
multiple blocks from an unstable Jenga tower. We present an integrated strategy for perception, planning and control that
achieves repeatable performance in this challenging physical
domain. In contrast to previous implementations, we rely only
on low-cost, readily available system components and use
strategic algorithms to resolve system uncertainty. We present a
three-stage planner for block extraction which considers block
selection, extraction order, and physics-based simulation that
evaluates removability. Existing vision techniques are combined
in a novel sequence for the identification and tracking of blocks
within the tower. Discussion of our approach is presented
following experimental results on a 5-DOF robot manipulator.
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Date Issued
2009
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Proceedings