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.