1. 1 Robotics and Biology Laboratory – Department of Computer Science Dov Katz Oliver Brock June 1 st, 2007 New England Manipulation Symposium Extracting Planar Kinematic Models Using Interactive Perception

2. 2 Robotics and Biology Laboratory – Department of Computer Science Simulation vs. Reality

3. 3 Robotics and Biology Laboratory – Department of Computer Science René Magritte: Treachery of Images (1929)

4. 4 Robotics and Biology Laboratory – Department of Computer Science Interactive Perception Vision Active Vision Interactive Perception

5. 5 Robotics and Biology Laboratory – Department of Computer Science Image Segmentation Fitzpatrick & Metta 2004 Tool Affordances Stoytchev 2005 Laws of Motion Christiansens, Mason, Mitchell 1991 Related Work: Perception Through Action

6. 6 Robotics and Biology Laboratory – Department of Computer Science Can Interaction Help Perception?

7. 7 Robotics and Biology Laboratory – Department of Computer Science Objects with Inherent Degrees of Freedom

8. 8 Robotics and Biology Laboratory – Department of Computer Science Ingredients  Feature Tracking (Computer Vision)  Pushing Motion (Robotics)  Graph Algorithm

9. 9 Robotics and Biology Laboratory – Department of Computer Science Basic Idea

10. 10 Robotics and Biology Laboratory – Department of Computer Science Approximately Unchanged Distances

11. 11 Robotics and Biology Laboratory – Department of Computer Science Clusters of the Graph

12. 12 Robotics and Biology Laboratory – Department of Computer Science Highly Connected Subgraphs (HCS) Hartuv & Shamir (1999)

13. 13 Robotics and Biology Laboratory – Department of Computer Science Kinematic Model

14. 14 Robotics and Biology Laboratory – Department of Computer Science UMan – UMass Mobile Manipulator

15. 15 Robotics and Biology Laboratory – Department of Computer Science Tools

16. 16 Robotics and Biology Laboratory – Department of Computer Science Perception of Kinematic Model

17. 17 Robotics and Biology Laboratory – Department of Computer Science Tool Use Based on Kinematic Model

18. 18 Robotics and Biology Laboratory – Department of Computer Science Degrees of Freedom

19. 19 Robotics and Biology Laboratory – Department of Computer Science Tool Use

20. 20 Robotics and Biology Laboratory – Department of Computer Science Result

21. 21 Robotics and Biology Laboratory – Department of Computer Science Multi-Link Objects

22. 22 Robotics and Biology Laboratory – Department of Computer Science Future Work: Planar Kinematic Models

23. 23 Robotics and Biology Laboratory – Department of Computer Science Interactive Perception