Discriminating Liquids Using a Robotic Kitchen Assistant

Elbrechter C, Maycock J, Haschke R, Ritter H (2015)
Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany.

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Conference Paper | Published | English
Abstract
A necessary skill when using liquids in the preparation of food is to be able to estimate viscosity, e.g. in order to control the pouring velocity or to determine the thickness of a sauce. We introduce a method to allow a robotic kitchen assistant discriminate between different but visually similar liquids. Using a Kinect depth camera, surface changes, induced by a simple pushing motion, are recorded and used as input to nearest neighbour and polynomial regression classification models. Results reveal that even when the classifier is trained on a relatively small dataset it generalises well to unknown containers and liquid fill rates. Furthermore, the regression model allows us to determine the approximate viscosity of unknown liquids.
Publishing Year
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
Location
Hamburg, Germany
Conference Date
2015-09-28
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Elbrechter C, Maycock J, Haschke R, Ritter H. Discriminating Liquids Using a Robotic Kitchen Assistant. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany.
Elbrechter, C., Maycock, J., Haschke, R., & Ritter, H. (2015). Discriminating Liquids Using a Robotic Kitchen Assistant. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany.
Elbrechter, C., Maycock, J., Haschke, R., and Ritter, H. (2015).“Discriminating Liquids Using a Robotic Kitchen Assistant”. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany.
Elbrechter, C., et al., 2015. Discriminating Liquids Using a Robotic Kitchen Assistant. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany.
C. Elbrechter, et al., “Discriminating Liquids Using a Robotic Kitchen Assistant”, Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, IEEE, 2015.
Elbrechter, C., Maycock, J., Haschke, R., Ritter, H.: Discriminating Liquids Using a Robotic Kitchen Assistant. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany (2015).
Elbrechter, Christof, Maycock, Jonathan, Haschke, Robert, and Ritter, Helge. “Discriminating Liquids Using a Robotic Kitchen Assistant”. Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, IEEE, 2015.
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