Jivko Sinapov from the Developmental Robotics Laboratory at Iowa State has started a projects to explored how proprioceptive sensory feedback, in the form of detected joint motor efforts, can be used by the PR2 robot and used by it for object perception. To allow it to tell when a bottle is either empty or full.
For the PR2 telling whether a bottle is empty or full is a tricky hurdle to complete as it cant use its cameras or 3D laser scans can help it. Watch the video after the break to see the PR2 in action.
The PR2 was put through its paces and was asked to solve:
– a sorting task in which only empty bottles are cleared off a table
– estimate the weight of bottles
– sliding boxes across a table
Within about 10-20 minutes of training the PR2 was able to learn an accurate model for distinguishing between full and empty boxes.Filed Under: Concepts & Design