Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe

Abstract

It is difficult to effectively operate a dual-arm robot using only the information written in a cooking recipe. To cope with this problem, this paper proposes a graph-based approach on bimanual cooking motion planning from a cooking recipe. In our approach, we first decompose the cooking recipe into graph elements. Then, we try to connect the graph elements taking into account the attributes of the input/output nodes. If two graph elements cannot be connected to each other, we search for a graph element that can be inserted between them from a motion database. Since the constructed graph includes the whole sequence of the robot’s motions to perform the cooking task, we can generate a task sequence of a dual-arm manipulator simultaneously performing two different tasks by using two arms. Through experimental study, we show that it is possible to generate robot motions from a cooking recipe and perform the cooking motions while simultaneously moving the left and right arms.