2026-09-19T04:56:04Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/744512022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Daniela Rus.
Bollini, Mario Attilio
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2012-10-26T18:09:57Z
2012-10-26T18:09:57Z
2012
2012
http://hdl.handle.net/1721.1/74451
813317701
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 141-143).
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.
by Mario Attilio Bollini.
S.M.
143 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Following recipes with a cooking robot
Thesis
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Publication
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<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.</Abstract>
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