Estimation fluid viscosity using a stirring motion on a general purpose robot. MSc Thesis, 2016.

In the physical world every object has different affordances or ways in which we can interact with them. For example, a person can either prod, stir, shake a liquid. This results in interesting information reflecting the physical properties of that fluid. Using this active approach we can reason about the world around us.

In this work we are interested in estimating the viscosity of a liquid using torque measurements from a stirring motion performed by a Baxter Robot.