SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception

  title={SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception},
  author={Kaushik Shivakumar and Vainavi Viswanath and Anrui Gu and Yahav Avigal and Justin Kerr and Jeffrey Ichnowski and Richard Cheng and Thomas Kollar and Ken Goldberg},
—Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling. This paper extends prior work on autonomously untangling long cables by introducing novel uncertainty quantification metrics and actions that interact with the cable to reduce perception uncertainty. We present Sliding and Grasping for Tangle Manipulation 2.0 (SGTM 2.0), a system that autonomously untangles cables approximately 3 meters in length with a bilateral robot using estimates of uncertainty… 

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