Pushing Dynamics (IMAGE)
Caption
A key to compiling the novel Omnipush dataset was building modular objects (pictured) that enabled the robotic system to capture a vast diversity of pushing behavior. Uniform central pieces contain markers on their centers and points, so a motion-detection system can detect their pose within a millimeter. Smaller pieces in four shapes -- concave, triangular, rectangular, and circular -- can be magnetically attached to any side of the central piece, and adjusted for various weights and mass distributions.
Credit
Image courtesy of Maria Bauza, Ferran Alet, Yen-Chen Lin, Tomas Lozano-Perez, Leslie P. Kaelbling, Phillip Isola, Alberto Rodriguez
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