Japanese Recipe Interpretation for Motion Process Generation of Cooking Robot

摘要

This paper presents a method to generate actual motions and its procedure for cooking robot equipped one robotic arm by interpreting Japanese letter recipes posted on general cooking-website for human-cooking. The cooking-recipes obtained from those website includes not only the material of cooking and the procedure of the cooking but also several redundancies such as impressions of the author. Furthermore the recipe includes a pre-processing method, but it is not written explicitly. Therefore, words in the recipe are classified, encoded and rearranged properly then motion codes which are suitable for the movements of the arm and procedures in according to the intention of the author are generated. The feasibility of the method was confirmed by simulator and actual machine experiments.