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: