Food Peeling Method for Dual-Arm Cooking Robot


In this study, a method is proposed to carry out food peeling task using our dual-arm robot system with a peeler. First, the problem of peeling a food using robot arms is discussed. Then, a new method for food peeling is introduced, which contains two parts: “ One peeling motion “ in which the robot peels part of a rind or skin through a pre-generated trajectory, and “Rotation motion” where the robot calculates the pose of food for the next “One peeling motion”. The introduced peeling method was implemented into the dual-arm system and then put into test by peeling five types of food. The results prove that the proposed method can peel the skin of various types of food successfully.

2021 IEEE/SICE International Symposium on System Integration (SII)