Following recipes with a cooking robot
Name
813317701-MIT.pdf
Description
Full printable version
Size
13.25 MB
Format
Adobe PDF
Checksum (MD5)
f4463ef6eaa28608d78e21f0b4b7fb81
Author(s)
Bollini, Mario Attilio
Advisor(s)
Daniela Rus.
Date Issued
2012
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, we present BakeBot, a PR2 robot system that interprets natural language baking recipes into baking instructions which it follows to execute the recipe, from mise en place presentation of the ingredients through baking in a toaster oven. 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 first implemented as a static finite state machine, which was tested through 27 baking attempts, 16 of which successfully resulted in edible cookies. The system was then implemented as a dynamic state machine, in which the robot estimated the world state and planned sequences of motion primitives to follow the baking instructions inferred from the natural language recipe, which was tested thorough five baking attempts of two different recipes, all of which resulted in edible cookies.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 141-143).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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