Researchers at MIT have developed a new robot that can easily peel multiple vegetables.
The dexterous manipulation system that utilizes an Allegro hand mounted on a Franka robot arm to reorient food items for downstream peeling.Researchers at MIT have developed a new robot that can easily perform some of type of kitchen tasks such as peeling multiple vegetables.Using its finger, the robotic system can easily rotate fruits and vegetables and use its other hand to peel them.researchers focused on constrained dexterous manipulation for food peeling.
The dexterous manipulation system that utilizes an Allegro hand mounted on a Franka robot arm to reorient food items for downstream peeling. The other Franka robot arm uses its gripper to grasp a peeler for peeling. The reorientation controller for the Allegro hand is learned through reinforcement learning, while the peeling is performed via teleoperation.
Researchers demonstrated the process of reorienting and peeling a melon, a sweet potato, and a squash. The reorientation controller presented in this study is a blind controller that relies solely on proprioceptive sensory information. While it has demonstrated the ability to successfully reorient heavy objects and securely hold them in place, its performance could potentially be enhanced by incorporating visual and tactile feedback.The current system has a few failure modes. Firstly, the object might slip out of the hand since the controller does not utilize any vision information.
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