As shown in Figure , the pouring by a robot was implemented based on the feedback from a weighing scale. The rotational velocity of the end-effector was controlled by the error from the target weight and shaping function that compensates for the feedback delay from the scale. The details of the pouring skill are described in . We measured the pouring performance in 10 and 20 mL. Since the maximal volume of the digital pipette is 10 mL, it was used twice to measure 20 mL.