15-494 Cognitive Robotics 2008 Final Project

Sheep Herding

Christopher Solidum

The second half of my project included pushing easter eggs across the boundaries of the sheep’s pen.

The general algorithm was as follows:

Manipulation Algorithm:

Use Pilot to approach the shape

Back up a bit if you overshot

Grasp the easter egg

Continue walking forward till you detect a pink line

Stand up and back away from the easter egg

Videos of the AIBO pushing the easter egg can be found on the results page

AIBO grasping the egg: