Yummy Operations Robot Initiative: Autonomous Cooking System Utilizing a Modular Robotic Kitchen and a Dual-Arm Proprioceptive Manipulator

TL;DR

YORI addresses autonomous multi-dish cooking in structured kitchens by integrating a proprioceptive dual-arm manipulator with a modular kitchen and specialized tools. Leveraging inverse dynamics $\\tau_{d} = M(q) \\ddot{q} + C(q, \\dot{q}) + g(q) + J^T F_{tip}$ and impedance control $\\tau_d = M(q) \\ddot{q} + C(q, \\dot{q}) + g(q) + J^T(K(x_d - x) + D(\\dot{x}_d - \\dot{x}) + F_{tip})$, YORI achieves precise trajectory tracking and safe contact during cooking actions. The hardware features 11-DoF dual arms with proprioceptive actuators, a pneumatic tool changer, a modular kitchen with IoT appliances, and specialized tools such as a rotating mixer and spice dispenser. The software stack integrates high-frequency control, shared memory IPC, and a CP-SAT-based task scheduler with dynamic replanning, validated by live demonstrations including steak-frites, indicating scalable potential for robotic kitchens.

Abstract

This paper presents Yummy Operations Robot Initiative (YORI), a proprioceptive dual-arm robotic system that demonstrates autonomous multi-dish cooking for scalable food service applications. YORI integrates a dual-arm manipulator equipped with proprioceptive actuators, custom-designed tools, appliances, and a structured kitchen environment to address the complexities of cooking tasks. The proprioceptive actuators enable fast, precise, force-controlled movements while mitigating the risks associated with cooking-related impacts. The system's modular kitchen design and flexible tool-changing mechanism support simultaneous multi-dish preparation through torque control and optimization-based motion planning and scheduling. A comprehensive scheduling framework with dynamic rescheduling ensures reliable adaptation to new orders and delays. The system was publicly validated through live demonstrations, reliably preparing steak-frites across multiple convention sessions. This paper details YORI's design and explores future directions in kitchen optimization, task planning, and food quality control, demonstrating its potential as a scalable robotic cooking solution. A system introduction and cooking videos are available online.

Figures (10)

• Figure 1: Overview of the YORI System, featuring a dual-arm manipulator equipped with proprioceptive actuators at its center. This setup is encircled by four modular kitchen units, each outfitted with customized or newly developed tools and appliances, positioned at the front, back, and sides. Examples of dishes cooked by the system are shown below, from left to right: Steak Frites, Tomato Penne Pasta, Spicy Fried Chicken, and Brownies.
• Figure 2: Dual-arm manipulator with proprioceptive actuators and a linkage mechanism, designed for dynamic and dexterous manipulation with low arm inertia.
• Figure 3: Tool Changer Mechanism: (a) A guiding cone aligns the tool changer to correct grasping position, (b) Tool changer's fingers are actuated by using compressed air to grip, (c) Fully locked tool changer and tool plate
• Figure 4: Layout design of the cooking cell. (a) Layout components. A: red cube representing appliance size and position, B: yellow key points for end-effector targets, C: blue cuboid defining arm movement space between appliance and manipulator. (b) Final cooking cell configuration with manipulator workspace (blue ellipsoid) and appliances. A: storage shelf, B: rotating pot, C: dish trolley, D: convection oven, E: salamander broiler, F: deep fryer, G: pasta cooker, H: spice dispenser, I: induction cooktop.
• Figure 5: YORI kitchen appliances and specialized tools: (a-c) Preparation appliances/tools: spice dispenser with modules, food processor with dicing chamber, rotating mixer with detachable pot. (d-g) Cooking appliances/tools: salamander broiler, convection oven, induction cooktop, deep fryer/water boiler with basket. (h) Custom induction pan with squeegee tool.