Complexity and Similarity Metrics for Unsupervised Identification of Programming Methods for Robot Cooking Tasks

Ilić, Stefan; Hughes, Josie

doi:10.1007/978-3-031-22731-8_5

Cited by 2 publications

(3 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The interactions between the floating objects and their surrounding environment is experimentally characterized. Using dynamic time warping (DTW) to compare the trajectories of the floating objects enables quantification of the similarities ( Ilic et al, 2023 ) between their limit cycles, which can then be used to generate an open-loop controller for controlling the objects’ trajectories. In the remainder of the paper, we present the methods and experimental setup used to explore these limit cycles, followed by experimental results and conclusion with suggestions for future work.…”

Section: Introductionmentioning

confidence: 99%

Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

Jacquart,

Obayashi,

Hughes

2023

Front. Robot. AI

Self Cite

View full text Add to dashboard Cite

The study of non-contact manipulation in water, and the ability to robotically control floating objects has gained recent attention due to wide-ranging potential applications, including the analysis of plastic pollution in the oceans and the optimization of procedures in food processing plants. However, modeling floating object movements can be complex, as their trajectories are influenced by various factors such as the object’s shape, size, mass, and the magnitude, frequency, and patterns of water waves. This study proposes an experimental investigation into the emergence ofrobotically controlled limit cycles in the movement of floating objects within a closed environment. The objects’ movements are driven by robot fins, and the experiment plan set up involves the use of up to four fins and variable motor parameters. By combining energy quantification of the system with an open-loop pattern generation, it is possible to demonstrate all main water-object interactions within the enclosed environment. A study using dynamic time warping around floating patterns gives insights on possible further studies.

show abstract

Section: Introductionmentioning

confidence: 99%

Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

Jacquart,

Obayashi,

Hughes

2023

Front. Robot. AI

Self Cite

View full text Add to dashboard Cite

show abstract

“…Several studies show that, in principle, robotic hardware is already capable of providing all the necessary functions for household and cooking processes [8,9]. The more challenging part is designing and enabling the grippers to grasp tools and selecting ingredients of the cooking process of varying texture, shape and solidity [10,11].…”

Section: Introductionmentioning

confidence: 99%

“…In addition to motion planning, there must be efficient task planning that can divide the given recipe into individual tasks and orchestrate their execution [18,19]. Ideally, the tasks can be divided between different actors, such as multiple robots and/or humans, to prepare a tasty dish together [8].…”

Section: Introductionmentioning

confidence: 99%

Robot Cooking—Transferring Observations into a Planning Language: An Automated Approach in the Field of Cooking

Schmitz,

Menz,

Grunau

et al. 2023

Eng

View full text Add to dashboard Cite

The recognition of human activities from video sequences and their transformation into a machine-readable form is a challenging task, which is the subject of many studies. The goal of this project is to develop an automated method for analyzing, identifying and processing motion capture data into a planning language. This is performed in a cooking scenario by recording the pose of the acting hand. First, predefined side actions are detected in the dataset using classification. The remaining frames are then clustered into main actions. Using this information, the known initial positions and virtual object tracking, a machine-readable planning domain definition language (PDDL) is generated.

show abstract

Complexity and Similarity Metrics for Unsupervised Identification of Programming Methods for Robot Cooking Tasks

Cited by 2 publications

References 17 publications

Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

Non-contact robotic manipulation of floating objects: exploiting emergent limit cycles

Robot Cooking—Transferring Observations into a Planning Language: An Automated Approach in the Field of Cooking

Contact Info

Product

Resources

About