Yuichi Kobayashi, Yutaro Ohshima, Toru Kaneko, and Atsushi Yamashita
Meal support system, scooping food, laser range finder, manipulator
This paper presents an autonomous meal support robot system that can handle nonrigid solid food. The robot system is equipped with a laser range finder (LRF) and a manipulator holding a spoon. The LRF measures the 3D coordinates of surface points belonging to food on a plate. Then the robot determines the position of the food surface to scoop, and the manipulator moves according to the calculated trajectory. The system has an advantage that preparation of food cutting in bite-size is not required. The proposed scooping control was implemented and verified in an experiment with two kinds of nonrigid solid foods. In this paper, we show that the robot can scoop foods for the most part with high success rate.
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