Rolling Motion for Making Dumplings by Robot


This paper describes a method for rolling dumplings dough using a robot. We focused on two issues when tackling this problem: the trajectory of the rolling motion and the amount of force applied to the dough. We conducted experiments to find appropriate parameters for the trajectory of the rounding motion. Regarding the amount of force applied to the fabric, P control was used to control the speed of the arm in the Z-axis direction so that the arm continued to touch the fabric with an appropriate force. Using the above findings, we actually rolled dumpling dough using a robot, and in each case succeeded in outputting the dough from a distorted shape to an almost spherical shape.

2024 JSME Conference on Robotics and Mechatronics (ROBOMECH2024)