====== "Inferring the Effects of Wiping Motions Based on Haptic Perception" Best Paper Finalist at Humanoids 2016 ======
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We are very happy to announce that the paper authored by [[http://rmc.dlr.de/rm/de/staff/daniel.leidner/|Daniel Leidner]] from [[http://www.dlr.de/rmc/rm/en/desktopdefault.aspx/tabid-8016/|Robotics and Mechatronics Center]] of [[http://www.dlr.de|DLR]] and [[http://ai.uni-bremen.de/team/michael_beetz|Prof. Michael Beetz, PhD]] from [[http://ai.uni-bremen.de/|Institute or Artificial Intelligence]] was nominated for [[http://www.humanoids2016.org/awards/| 
The Best Interactive Paper Award]] at [[http://www.humanoids2016.org/|Humanoids 2016]].

The paper presents how the  haptic  perception  paired with  a qualitative  effect  representation can be used to reason  about  the task performance of robotic wiping motions despite poor visual information. The proposed approach relates the desired contact force to the measured end-effector force in order to simulate the effect of the previously executed wiping motions. In this way the proposed approach is able to replan  recovery  motions after it successfully distinguished good from bad contact situations, w. r. t. the  desired effect.  The proposed approach was evaluated on a set of experiments with the robot [[http://www.dlr.de/rmc/rm/en/desktopdefault.aspx/tabid-5471/|Rollin' Justin]].