Using Importance Ranks to Derive Suitable Timing of Visual Sensing in Manipulation Task Containing Error Recovery

Abstract

In general, a manipulation task can be composed of many skill primitives. Therefore, it is desirable to carry out plural visual sensing in most skill primitives; however, performing sensing all the time is difficult. In this paper, we propose the addition of importance ranks to the attribute of skill primitives in order to derive a suitable timing for performing sensing. Furthermore, we show that the skill primitives distinguished by their high importance ranks considerably correlates with error recovery.