| CPC B67D 3/0003 (2013.01) [B25J 11/00 (2013.01); B25J 13/084 (2013.01)] | 8 Claims |
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1. A method of a robotic arm for estimating an amount of liquid poured from a container, the method comprising:
receiving a tactile signal detected by at least one tactile sensor of an end effector holding the container containing a liquid;
receiving a joint signal including an angular position, angular velocity, and torque of a joint connected to the end effector;
estimating, based on the tactile signal and the joint signal, the amount of liquid poured from the container;
determining forces at the end effector based on the torque of the joint; and
controlling the end effector to pour the liquid, using a proportional-integral-derivative (PID) controller, based on the estimated amount of liquid that has been poured from the container,
wherein the estimating the amount of liquid poured from the container comprises inputting a feature vector based on the tactile signal and the joint signal into a neural network,
wherein the feature vector is obtained by concatenating the tactile signal with the angular position of the joint, the angular velocity of the joint, and forces at the end effector,
wherein an error value for which the PID controller performs correction is obtained by calculating a difference between a target amount of liquid to be poured and the estimated amount of liquid that has been poured.
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