BakeBot: Baking Cookies with the PR2


We present BakeBot, a PR2 robot system that 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… (More)


7 Figures and Tables


Citations per Year

Citation Velocity: 18

Averaging 18 citations per year over the last 3 years.

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