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Visual Closed-Loop Control for Pouring Liquids
[article]
2017
arXiv
pre-print
Pouring a specific amount of liquid is a challenging task. In this paper we develop methods for robots to use visual feedback to perform closed-loop control for pouring liquids. We propose both a model-based and a model-free method utilizing deep learning for estimating the volume of liquid in a container. Our results show that the model-free method is better able to estimate the volume. We combine this with a simple PID controller to pour specific amounts of liquid, and show that the robot is
arXiv:1610.02610v3
fatcat:26yvlkmchrehphaj2not4i5foa