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— An important problem in robotic manipulation is the ability to predict how objects behave under manipulative actions. This ability is necessary to allow planning of object manipulations. Physics simulators can be used to do this, but they model many kinds of object interaction poorly. An alternative is to learn a motion model for objects by interacting(More)
— The problem of model-based object tracking in three dimensions is addressed. Most previous work on tracking assumes simple motion models, and consequently tracking typically fails in a variety of situations. Our insight is that incorporating physics models of object behaviour improves tracking performance in these cases. In particular it allows us to(More)
— This paper presents an algorithm for planning sequences of pushes, by which a robotic arm equipped with a single rigid finger can move a manipulated object (or manipulandum) towards a desired goal pose. Pushing is perhaps the most basic kind of manipulation, however it presents difficult challenges for planning, because of the complex relationship between(More)
— We consider the task of monocular visual motion estimation from video image sequences. We hypothesise that performance on the task can be improved by incorporating an understanding of physically likely and feasible object dynamics. We test this hypothesis by incorporating a physical simulator into a least-squares estimation procedure. We initialise a full(More)
Visual tracking of an object can provide a powerful source of feedback information during complex robotic manipulation operations, especially those in which there may be uncertainty about which new object pose may result from a planned manipulative action. At the same time, robotic manipulation can provide a challenging environment for visual tracking, with(More)
— Visual tracking algorithms have important robotic applications such as mobile robot guidance and servoed wide area surveillance systems. These applications ideally require vision algorithms which are robust to camera motion and scene change but are cheap and fast enough to run on small, low power embedded systems. Unfortunately most robust visual tracking(More)
— Dexterous grasping of objects with uncertain pose is a hard unsolved problem in robotics. This paper solves this problem using information gain re-planning. First we show how tactile information, acquired during a failed attempt to grasp an object can be used to refine the estimate of that object's pose. Second, we show how this information can be used to(More)