Model-free and learning-free grasping by Local Contact Moment matching

This paper addresses the problem of grasping arbitrarily shaped objects, observed as partial point-clouds, without requiring: models of the objects, physics parameters, training data, or other a-priori knowledge. A grasp metric is proposed based on Local Contact Moment (LoCoMo). LoCoMo combines zero-moment shift features, of both hand and object surface patches, to determine local similarity. This metric is then used to search for a set of feasible grasp poses with associated grasp likelihoods. LoCoMo overcomes some limitations of both classical grasp planners and learning-based approaches. Unlike force-closure analysis, LoCoMo does not require knowledge of physical parameters such as friction coefficients, and avoids assumptions about fingertip contacts, instead enabling robust contacts of large areas of hand and object surface. Unlike more recent learning-based approaches, LoCoMo does not require training data, and does not need any prototype grasp configurations to be taught by kinesthetic demonstration. We present results of real-robot experiments grasping 21 different objects, observed by a wrist-mounted depth camera. All objects are grasped successfully when presented to the robot individually. The robot also successfully clears cluttered heaps of objects by sequentially grasping and lifting objects until none remain.</p

Camas, Summer 2010

Art and Photography / Grace Brogan, Tony Bynum, Bob Friend, Beth Gibson, M Jackson, Sara Mintz, Elizabeth Ruff, Sarah Weatherby, Liz Williams -- Will You Speak Before I Am Gone / Christopher Zumski Finke -- Through the Heart of It / Erica Bloom -- Berry Soup / Elaine Dugas Shea -- Kyi-Yo Traditional, Grass, Jingle Dress and Fancy / Elaine Dugas Shea -- Ice in Isolation, a lament / M Jackson -- The Limits of Landscape / Rebecca Solnit -- Why We Go A-Wolverining / Douglas H. Chadwick -- on our backs: many glacier / Rick White -- Stan Meets Hank / Harrison Rutledge -- Love is a Bear / Brian Schott -- Ground / Grace Brogan -- Revival / Kathleen Yale -- The Rust Fish 4 and The Rust Fish 5 / Maya Jewell Zeller -- A Love Letter / Beth Raboi

Who am I as a leader? Shaping a hermeneutic perspective

This participative inquiry seeks to address its question by drawing on contemporary research into leadership and contributing to it by extending Rost's notion of 'influence relationship' and offering a concept of 'fidelity of influence'. It considers also how postmodern leaders might become 'wise' through 'virtuous practical wisdom'. As the learning journey unfolded, the methodology transformed from positivist to hermeneutic and autoethnographic, culminating in the concept of 'storied spaces' to support deeper, hermeneutic insight into leading