Bakebot: Baking Cookies with the PR2

Abstract

bakes cookies autonomously, from mise en place presentation through baking in a toaster oven. The baking planning and control system is implemented as a hierarchical finite state machine. We developed parameterized motion primitives for baking. The motion primitives utilize the existing sensing and manipulation capabilities of the PR2 platform and also our new compliant control techniques to address environmental uncertainty. The system was tested through 27 baking attempts, 16 of which successfully resulted in edible cookies. I.