[PDF][PDF] Bakebot: Baking cookies with the pr2
M Bollini, J Barry, D Rus - The PR2 workshop: results, challenges and …, 2011 - Citeseer
M Bollini, J Barry, D Rus
The PR2 workshop: results, challenges and lessons learned in advancing robots …, 2011•CiteseerWe present BakeBot, a PR2 robot system that bakes cookies autonomously, from mise en
place presentation through baking in a toaster oven. The baking planning and control
system is implemented as a hierarchical finite state machine. We developed parameterized
motion primitives for baking. The motion primitives utilize the existing sensing and
manipulation capabilities of the PR2 platform and also our new compliant control techniques
to address environmental uncertainty. The system was tested through 27 baking attempts …
place presentation through baking in a toaster oven. The baking planning and control
system is implemented as a hierarchical finite state machine. We developed parameterized
motion primitives for baking. The motion primitives utilize the existing sensing and
manipulation capabilities of the PR2 platform and also our new compliant control techniques
to address environmental uncertainty. The system was tested through 27 baking attempts …
Abstract
We present BakeBot, a PR2 robot system that bakes cookies autonomously, from mise en place presentation through baking in a toaster oven. The baking planning and control system is implemented as a hierarchical finite state machine. We developed parameterized motion primitives for baking. The motion primitives utilize the existing sensing and manipulation capabilities of the PR2 platform and also our new compliant control techniques to address environmental uncertainty. The system was tested through 27 baking attempts, 16 of which successfully resulted in edible cookies.
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