相关论文: Yummy Operations Robot Initiative: Autonomous Cook…
This letter describes an approach to achieve well-known Chinese cooking art stir-fry on a bimanual robot system. Stir-fry requires a sequence of highly dynamic coordinated movements, which is usually difficult to learn for a chef, let alone…
General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of being too difficult to use. We present a proof-of-concept…
Advanced robotic manipulation of deformable, volumetric objects remains one of the greatest challenges due to their pliancy, frailness, variability, and uncertainties during interaction. Motivated by these challenges, this article…
Assistive robot arms have the potential to help disabled or elderly adults eat everyday meals without relying on a caregiver. To provide meaningful assistance, these robots must reach for food items, pick them up, and then carry them to the…
This work introduces the concept of an autonomous cooking process based on Digital Twin method- ology. It proposes a hybrid approach of physics-based full order simulations followed by a data-driven system identification process with low…
SODA aims to revolutionize assistive feeding systems by designing a multi-purpose utensil using origami-inspired artificial muscles. Traditional utensils, such as forks and spoons,are hard and stiff, causing discomfort and fear among users,…
For millions of adults with mobility limitations, eating meals is a daily challenge. A variety of robotic systems have been developed to address this societal need. Unfortunately, end-user adoption of robot-assisted feeding is limited, in…
Recent advances in robot learning have generated significant interest in capable platforms that may eventually approach human-level competence. This interest, combined with the commoditization of actuators, has propelled growth in low-cost…
Eating is a daily challenge for over 60 million adults with essential tremors and other mobility limitations. For these users, traditional utensils like forks or spoons are difficult to manipulate -- resulting in accidental spills and…
In this work, a control scheme for human-robot collaborative object transportation is proposed, considering a quadruped robot equipped with the MIGHTY suction cup that serves both as a gripper for holding the object and a force/torque…
This work demonstrates the use of the Digital Twin methodology to predict the water concentration and temperature of chicken meat. It marks a milestone on the path to autonomous cooking devices that do not only control device temperatures…
This project introduces a Feeding Assistive Robot tailored to individuals with physical disabilities, including those with limited arm function or hand control. The core component is a precise 6-degree freedom robotic arm, operated…
Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…
Recently, inflatable elements integrated in robotics systems have enabled complex motions as a result of simple inputs. However, these fluidic actuators typically exhibit unimodal deformation upon inflation. Here, we present a new design…
An unsolved challenge in cooking automation is designing for shared kitchen workspaces. In particular, robots struggle with dexterity in the unstructured and dynamic kitchen environment. We propose that human-machine collaboration can be…
Although there is a growing demand for cooking behaviours as one of the expected tasks for robots, a series of cooking behaviours based on new recipe descriptions by robots in the real world has not yet been realised. In this study, we…
Labor shortages in the United States are impacting a number of industries including the meat processing sector. Collaborative technologies that work alongside humans while increasing production abilities may support the industry by…
We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to…
Robots that assist humans will need to interact with articulated objects such as cabinets or microwaves. Early work on creating systems for doing so used proprioceptive sensing to estimate joint mechanisms during contact. However, nowadays,…
Eating is an essential activity of daily living (ADL) for staying healthy and living at home independently. Although numerous assistive devices have been introduced, many people with disabilities are still restricted from independent eating…