Robotic manipulation methods and systems for executing a domain-specific application in an instrumented environment with electronic minimanipulation libraries
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Solution Overview
Problem
Current robotic systems lack the ability to replicate complex human tasks, such as cooking, with precision and adaptability, as they rely on pre-programmed trajectories without deviation, limiting their application in home and consumer markets.
Innovation Solution
A robotic apparatus with two arms and hands that replicates the precise movements of a chef using a software file of recorded movements, combined with sensory curves for real-time adjustments, allowing for quality checking and ingredient storage, enabling the preparation of dishes with the same taste, smell, and appearance as a human chef.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If pre-programmed trajectories are used for robotic manipulation, then the robotic system can execute tasks automatically, but it cannot adapt to variations in the environment or task requirements
Solution Approach 1:
The robotic system incorporates sensors that continuously monitor the environment and task execution, providing real-time feedback to the control system. This feedback loop enables the robot to detect variations in object positions, environmental conditions, and task progress, then automatically adjust its trajectories and actions accordingly, resolving the contradiction between automation and adaptability.
Solution Approach 2:
The system transitions from static pre-programmed trajectories to dynamic adaptive trajectories. The robotic manipulation instructions are designed to be modifiable in real-time based on sensor input, allowing the robot to dynamically adjust its motion paths, speeds, and forces to accommodate environmental variations while maintaining automatic execution.
2Productivity
If complex human tasks like cooking are replicated with robotic systems, then productivity increases, but the device complexity increases significantly
Solution Approach 1:
The complex cooking task is broken down into discrete, manageable minimanipulation steps (e.g., chopping, stirring, heating). Each minimanipulation is represented as a separate instruction with specific parameters, allowing the robotic system to execute complex recipes through composition of simpler, standardized actions, thereby managing system complexity while maintaining high productivity.
Solution Approach 2:
The robotic system employs universal minimanipulation libraries that can be applied across multiple different cooking tasks and recipes. By creating a set of reusable, parameterized manipulation primitives, the system can handle diverse culinary operations without requiring separate complex programming for each task, reducing overall system complexity while enabling high productivity.
3Ease of operation
If pre-programmed robotic instructions are used, then the system is easier to operate, but it lacks the precision needed for gourmet-quality results
Solution Approach 1:
The system uses parameterized minimanipulation instructions that include adjustable parameters for force, speed, duration, and position. These parameters can be precisely controlled and modified to achieve gourmet-quality results while maintaining ease of operation through standardized instruction formats. The parameterization allows fine-tuning of execution precision without complicating the overall system operation.
Solution Approach 2:
Real-time sensor feedback enables the robotic system to monitor and adjust execution parameters during task performance, ensuring precision in culinary operations. The feedback mechanism allows the system to detect deviations from desired outcomes and make corrective adjustments, maintaining high precision while keeping the system easy to operate through automatic control.
Data Source
AI summary
Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result.