KidzTube
Welcome
Login / Register

Robot Learns to Flip Pancakes

Thanks! Share it with your friends!

URL

You disliked this video. Thanks for the feedback!

Sorry, only registred users can create playlists.
URL


 Science   |   Technology
 Find Related Videos  added
148 Views

Description

Pancake day special!

The video shows a Barrett WAM robot learning to flip pancakes by reinforcement learning. The motion is encoded in a mixture of basis force fields through an extension of Dynamic Movement Primitives (DMP) that represents the synergies across the different variables through stiffness matrices. An Inverse Dynamics controller with variable stiffness is used for reproduction.

For pancake day special, the skill is first demonstrated via kinesthetic teaching, and then refined by Policy learning by Weighting Exploration with the Returns (PoWER) algorithm. After 50 trials, the robot learns that the first part of the task requires a stiff behavior to throw the pancake in the air, while the second part requires the hand to be compliant in order to catch the pancake without having it bounced off the pan.

Video credits:
--------------------------
Dr. Petar Kormushev
http://kormushev.com

Affiliation:
----------------------
Advanced Robotics dept.
Italian Institute of Technology (IIT)

Published paper about this pancake flipping robot experiment:
http://kormushev.com/papers/Kormushev-IROS2010.pdf

Pancake day special

Post your comment

Comments

Be the first to comment






RSS