GENERATING METHOD OF PROCEDURE FOR CUTTING INGREDIENT BY COOKING ROBOT

摘要

We propose a method to construct cutting procedure by cutting motion for ingredients with kitchen knife and putting motion for ingredient with robot hand. Motion of knife is classified into 3 types based on a moving direction that determines from stiffness of ingredient. And 2 types of putting motion are determined from difference of axis on which ingredient is rotated. Cutting procedure is constructed by combination of motion of cutting knife and motion of putting ingredient to correspond many kind of cutting method.