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The creation of a robot chef represents a grand challenge for the field of robotics. Cooking is one of the most important activities that takes place in the home, and a robotic chef capable of following arbitrary recipes would have many applications in both household and industrial environments. The kitchen environment is a semi-structured proving ground(More)
All 2. Abstract This thesis presents a case for a paradigm shift in the way mobility technology is approached in the United States. Spawning from the research of developing world wheelchair technology, a conceptual design for a capable wheelchair is proposed based on the unique market elements of the United States. These factors include: user desire for(More)
This paper describes the architecture and implementation of a distributed autonomous gardening system. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry(More)
This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and(More)
In this thesis, we present BakeBot, a PR2 robot system that interprets natural language baking recipes into baking instructions which it follows to execute the recipe, from mise en place presentation of the ingredients through baking in a toaster oven. We developed parameterized motion primitives for baking. The motion primitives utilize the existing(More)
lXI I understand that this research report must be officially approved by the Graduate School and that an electronic copy of the approved version will be made available through the University Library website !XII attest that the research report is my original work (that any copyrightable materials have been used with the permission of the original authors),(More)
Following a review of the most recent opinion on the physiology of colour vision, a device for examining it in dynamic, i.e. real-life conditions is described. The apparatus consist of two projectors which flash two absolutely identical pictures on to the screen, one of them is upside down. It appears at fixed but adjustable intervals so that the exposure(More)
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