The purpose of this project is to conduct manipulation and planning research by utilizing the WillowGarage PR2 robot to perform a complex task: baking cookies.
Baking Cookies With Hierarchical Finite State Machine
The first phase of this project consisted of baking cookies using a hierarchical finite state machine (utilizing the SMACH ROS Package). A condensed video of the baking task can be seen at: http://www.youtube.com/watch?v=duXFIKswTOM.
Baking Cookies with Natural Language Processing and Adaptive Planning
Work is now being done on generalizing the baking task. The first step is the processing of natural language recipes collected from a web archive. Our system will distill the recipes into a robot command set to execute the recipe on the PR2. The second step is the autonomous assembly of motion primitives to accomplish the cooking subtasks specified by the robot command.