TY - GEN
T1 - An Intelligent Robotic System for Perceptive Pancake Batter Stirring and Precise Pouring
AU - Luo, Xinyuan
AU - Jin, Shengmiao
AU - Huang, Hung Jui
AU - Yuan, Wenzhen
N1 - This work was supported by Toyota Research Institute. The authors would like to thank the entire RoboTouch Lab, especially Amin Mirzaee and Yuchen Mo, for their help with this paper.
PY - 2024
Y1 - 2024
N2 - Cooking robots have long been desired by the commercial market, while the technical challenge is still significant. A major difficulty comes from the demand of perceiving and handling liquid with different properties. This paper presents a robot system that mixes batter and makes pancakes out of it, where understanding and handling the viscous liquid is an essential component. The system integrates Haptic Sensing and control algorithms to autonomously stir flour and water to achieve the desired batter uniformity, estimate the batter's properties such as the water-flour ratio and liquid level, as well as perform precise manipulations to pour the batter into any specified shape. Experimental results show the system's capability to always produce batter of desired uniformity, estimate water-flour ratio and liquid level precisely, and accurately pour it into complex shapes. This research showcases the potential for robots to assist in kitchens and step towards commercial culinary automation.
AB - Cooking robots have long been desired by the commercial market, while the technical challenge is still significant. A major difficulty comes from the demand of perceiving and handling liquid with different properties. This paper presents a robot system that mixes batter and makes pancakes out of it, where understanding and handling the viscous liquid is an essential component. The system integrates Haptic Sensing and control algorithms to autonomously stir flour and water to achieve the desired batter uniformity, estimate the batter's properties such as the water-flour ratio and liquid level, as well as perform precise manipulations to pour the batter into any specified shape. Experimental results show the system's capability to always produce batter of desired uniformity, estimate water-flour ratio and liquid level precisely, and accurately pour it into complex shapes. This research showcases the potential for robots to assist in kitchens and step towards commercial culinary automation.
UR - http://www.scopus.com/inward/record.url?scp=85216494924&partnerID=8YFLogxK
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U2 - 10.1109/IROS58592.2024.10802841
DO - 10.1109/IROS58592.2024.10802841
M3 - Conference contribution
AN - SCOPUS:85216494924
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5970
EP - 5977
BT - 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024
Y2 - 14 October 2024 through 18 October 2024
ER -