Visual Closed-Loop Control for Pouring Liquids [article]

Connor Schenck, Dieter Fox
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
more » ... ble to achieve an average 38ml deviation from the target amount. To our knowledge, this is the first use of raw visual feedback to pour liquids in robotics.
arXiv:1610.02610v3 fatcat:26yvlkmchrehphaj2not4i5foa