Minimal Degree of Freedom Dual-Arm Manipulation Platform with Coupling Body Joint for Diverse Cooking Tasks

Abstract

This article introduces the development and implementation of the Yummy Operations Robot Initiative (YORI), an innovative, autonomous robotic cooking system. YORI marks a major advancement in culinary automation, adept at handling a diverse range of cooking tasks, capable of preparing multiple dishes simultaneously, and offering the flexibility to adapt to an extensive array of culinary activities. This versatility is achieved through the use of custom tools and appliances operated by a dual-arm manipulator utilizing proprioceptive actuators. The use of proprioceptive actuators enables fast yet precise movements, while allowing for accurate force control and effectively mitigating the inevitable impacts encountered in cooking. These factors underscore this technology's boundless potential. A key to YORI's adaptability is its modular kitchen design, which allows for easy adaptations to accommodate an ever-growing range of culinary tasks. This article provides an in-depth look at YORI's design process, its technological innovations, operational capabilities, and highlights its role in revolutionizing the culinary world by enhancing efficiency, consistency, and versatility in food preparation.

Tableware Tidying-Up Robot System for Self-Service Restaurant–Detection and Manipulation of Leftover Food and Tableware-

“…The gray image detects coordinates (𝑋 , 𝑌 ) and time 𝑡 ; depth image detects coordinates (𝑋 , 𝑌 ), time 𝑡 , and the tableware moves at speed v. To prevent erroneous detection, (𝑋 , 𝑌 ), 𝑡 , (𝑋 , 𝑌 ), and 𝑡 are checked to confirm if the coordinates are the same as shown in Figure 6. Since the tableware moves only in the Y direction, it is recognized that the detected tableware position is correct if it is within the allowable position range ∆b as in Equation (2).…”

“…If Z 0 − Z i < a, there is leftover food. Since the tableware moves only in the Y direction, it is recognized that the detected tableware position is correct if it is within the allowable position range ∆b as in Equation (2).…”

“…The chain in the meal industry includes food production, food provision, table cleaning, tableware sorting, and cleaning. Some studies designed a two-handed robot for cooking, expanding the motion sparseness, optimizing the mission, and shortening the cooking time [1,2]. Some studies focusing on food provision used multiple robots designed with a ringed robot by planning the robot's running trajectory [3,4].…”

ReDUCE: Reformulation of Mixed Integer Programs using Data from Unsupervised Clusters for Learning Efficient Strategies

“…We implement our optimization results on hardware with a 6 degree of freedom manipulator [25] to insert a book onto a shelf. To automate the system, a trajectory planner is required to generate the insertion motion, which is common in practice.…”