Title:
Robot Jenga: Autonomous and Strategic Block Extraction
Robot Jenga: Autonomous and Strategic Block Extraction
| dc.contributor.author | Wang, Jiuguang | |
| dc.contributor.author | Rogers, Philip | |
| dc.contributor.author | Parker, Lonnie T. | |
| dc.contributor.author | Brooks, Douglas Antwonne | |
| dc.contributor.author | Stilman, Mike | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.date.accessioned | 2010-12-16T17:21:36Z | |
| dc.date.available | 2010-12-16T17:21:36Z | |
| dc.date.issued | 2009 | |
| dc.description | © 2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
| dc.description.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. | en_US |
| dc.identifier.citation | J. Wang, P. Rogers, L. Parker, D. Brooks, and M. Stilman. Robot Jenga: Autonomous and Strategic Block Extraction. In IEEE-RAS International Conference on Intelligent Robots and Systems (IROS'09), 2009. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/36452 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Jenga | en_US |
| dc.subject | Entertainment robot | en_US |
| dc.subject | Block extraction | en_US |
| dc.subject | Game strategy | en_US |
| dc.subject | Movable obstacles | en_US |
| dc.subject | Pose estimation | en_US |
| dc.title | Robot Jenga: Autonomous and Strategic Block Extraction | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | Humanoid Robotics Laboratory | |
| relation.isOrgUnitOfPublication | 05bf85fb-965e-425d-af8b-dbf56e0d9797 |