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"Inferring the Effects of Wiping Motions Based on Haptic Perception" Best Paper Finalist at Humanoids 2016

We are very happy to announce that the paper authored by Daniel Leidner from Robotics and Mechatronics Center of DLR and Prof. Michael Beetz, PhD from Institute or Artificial Intelligence was nominated for The Best Interactive Paper Award at 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 Rollin' Justin.