Related papers: Kitchen Artist: Precise Control of Liquid Dispensi…
Cooking robots have long been desired by the commercial market, while the technical challenge is still significant. A major difficulty comes from the demand of perceiving and handling liquid with different properties. This paper presents a…
Pouring a specific amount of liquid is a challenging task. In this paper we develop methods for robots to use visual feedback to perform closed-loop control for pouring liquids. We propose both a model-based and a model-free method…
Robotic assistants in a home environment are expected to perform various complex tasks for their users. One particularly challenging task is pouring drinks into cups, which for successful completion, requires the detection and tracking of…
Our brains are able to exploit coarse physical models of fluids to solve everyday manipulation tasks. There has been considerable interest in developing such a capability in robots so that they can autonomously manipulate fluids adapting to…
Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…
With the growing emphasis on the development and integration of service robots within household environments, we will need to endow robots with the ability to reliably pour a variety of liquids. However, liquid handling and pouring is a…
As service robots begin to be deployed to assist humans, it is important for them to be able to perform a skill as ubiquitous as pouring. Specifically, we focus on the task of pouring an exact amount of water without any environmental…
A vacuum lifter is widely used to hold and pick up large, heavy, and flat objects. Conventionally, when using a vacuum lifter, a human worker watches the state of a running vacuum lifter and adjusts the object's pose to maintain balance. In…
Pouring is the second most frequently executed motion in cooking scenarios. In this work, we present our system of accurate pouring that generates the angular velocities of the source container using recurrent neural networks. We collected…
Robots are expected to manipulate objects in a safe and dexterous way. For example, washing dishes is a dexterous operation that involves scrubbing the dishes with a sponge and rinsing them with water. It is necessary to learn it safely…
Properly handling delicate produce with robotic manipulators is a major part of the future role of automation in agricultural harvesting and processing. Grasping with the correct amount of force is crucial in not only ensuring proper grip…
In glass bottle manufacturing, precise control of forming machines is critical for ensuring quality and minimizing defects. This study presents a deep learning-based control algorithm designed to optimize the forming process in real…
Humans have the amazing ability to perform very subtle manipulation task using a closed-loop control system with imprecise mechanics (i.e., our body parts) but rich sensory information (e.g., vision, tactile, etc.). In the closed-loop…
Pouring is one of the most commonly executed tasks in humans' daily lives, whose accuracy is affected by multiple factors, including the type of material to be poured and the geometry of the source and receiving containers. In this work, we…
Liquid state estimation is important for robotics tasks such as pouring; however, estimating the state of transparent liquids is a challenging problem. We propose a novel segmentation pipeline that can segment transparent liquids such as…
Liquid perception is critical for robotic pouring tasks. It usually requires the robust visual detection of flowing liquid. However, while recent works have shown promising results in liquid perception, they typically require labeled data…
Autonomous agents capable of diverse object manipulations should be able to acquire a wide range of manipulation skills with high reusability. Although advances in deep learning have made it increasingly feasible to replicate the dexterity…
This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…
In splat painting, a collection of liquid droplets is projected onto the substrate by imposing a controlled acceleration to a paint-loaded brush. To unravel the physical phenomena at play in this artistic technique, we perform a series of…
Humans have rich understanding of liquid containers and their contents; for example, we can effortlessly pour water from a pitcher to a cup. Doing so requires estimating the volume of the cup, approximating the amount of water in the…