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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2405.11094 |
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| _version_ | 1866909918065328128 |
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| author | Noh, Donghun Nam, Hyunwoo Gillespie, Kyle Liu, Yeting Hong, Dennis |
| author_facet | Noh, Donghun Nam, Hyunwoo Gillespie, Kyle Liu, Yeting Hong, Dennis |
| contents | This paper presents Yummy Operations Robot Initiative (YORI), a proprioceptive dual-arm robotic system that demonstrates autonomous multi-dish cooking for scalable food service applications. YORI integrates a dual-arm manipulator equipped with proprioceptive actuators, custom-designed tools, appliances, and a structured kitchen environment to address the complexities of cooking tasks. The proprioceptive actuators enable fast, precise, force-controlled movements while mitigating the risks associated with cooking-related impacts. The system's modular kitchen design and flexible tool-changing mechanism support simultaneous multi-dish preparation through torque control and optimization-based motion planning and scheduling. A comprehensive scheduling framework with dynamic rescheduling ensures reliable adaptation to new orders and delays. The system was publicly validated through live demonstrations, reliably preparing steak-frites across multiple convention sessions. This paper details YORI's design and explores future directions in kitchen optimization, task planning, and food quality control, demonstrating its potential as a scalable robotic cooking solution. A system introduction and cooking videos are available online. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_11094 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Yummy Operations Robot Initiative: Autonomous Cooking System Utilizing a Modular Robotic Kitchen and a Dual-Arm Proprioceptive Manipulator Noh, Donghun Nam, Hyunwoo Gillespie, Kyle Liu, Yeting Hong, Dennis Robotics This paper presents Yummy Operations Robot Initiative (YORI), a proprioceptive dual-arm robotic system that demonstrates autonomous multi-dish cooking for scalable food service applications. YORI integrates a dual-arm manipulator equipped with proprioceptive actuators, custom-designed tools, appliances, and a structured kitchen environment to address the complexities of cooking tasks. The proprioceptive actuators enable fast, precise, force-controlled movements while mitigating the risks associated with cooking-related impacts. The system's modular kitchen design and flexible tool-changing mechanism support simultaneous multi-dish preparation through torque control and optimization-based motion planning and scheduling. A comprehensive scheduling framework with dynamic rescheduling ensures reliable adaptation to new orders and delays. The system was publicly validated through live demonstrations, reliably preparing steak-frites across multiple convention sessions. This paper details YORI's design and explores future directions in kitchen optimization, task planning, and food quality control, demonstrating its potential as a scalable robotic cooking solution. A system introduction and cooking videos are available online. |
| title | Yummy Operations Robot Initiative: Autonomous Cooking System Utilizing a Modular Robotic Kitchen and a Dual-Arm Proprioceptive Manipulator |
| topic | Robotics |
| url | https://arxiv.org/abs/2405.11094 |