Pancake day special - Robot learns to flip pancakes
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Uploaded by PetarKormushev on Jul 26, 2010
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 for pancake day special:
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Dr. Petar Kormushev
http://kormushev.com
Dr. Sylvain Calinon
http://programming-by-demonstration.org
Affiliation:
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Advanced Robotics dept.
Italian Institute of Technology (IIT)
Link to publication about pancake day special:
http://programming-by-demonstration.org/papers/Kormushev-IROS2010.pdf
Link to publication on PoWER algorithm by Jens Kober and Jan Peters:
http://books.nips.cc/papers/files/nips21/NIPS2008_0089.pdf
Pancake day special
- 820 likes, 12 dislikes
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Ahh, technology these day eh
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finally we have an actual use for technology
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What are you doing? Stop it! I-i-i-i-i-i-i-i— We-e-e-e are pleased that you made it through the final challenge where we pretended we were going to murder you with pancake mix.
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Yeah robot!
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Today, it learns to flip pencakes... Tomorrow, it travels back in time and tries to kill Sarah Connor!
1 week ago 3
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After this, asking "will it blend" seems like a stupid question on a whole new level.
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When life gives you pancake mix, don't make pancakes. Make life take the pancake mix back! GET MAD! I DON'T WANT YOUR DAMN PANCAKES, WHAT AM I SUPPOSED TO DO WITH THESE? DO YOU KNOW WHO I AM? I'M THE MAN WHO'S GONNA BURN YOUR HOUSE DOWN! WITH THE PANCAKES! I'M GONNA GET MY ENGINEERS TO INVENT A COMBUSTIBLE PANCAKE THAT BURNS YOUR HOUSE DOWN! WHAT DO YOU THINK ABOUT THAT?!
clearcutter74 3 months ago 16
David Plotz sent me here.
spartan2600 4 months ago 6