Robotic roommates making pancakes

Beetz, Michael; Klank, Ulrich; Kresse, Ingo; Maldonado, Alexis; Mösenlechner, Lorenz; Pangercic, Dejan; Rühr, Thomas; Tenorth, Moritz

doi:10.1109/humanoids.2011.6100855

Cited by 180 publications

(121 citation statements)

References 22 publications

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“…For example, cookie-baking robots can locate ingredients, mix them in the correct order, and place the resultant dough in a baking tray [5] . These robots, equipped with operation/recipe libraries, can perform basic tasks such as picking up an object, putting it down or pouring [6] . Such robotics-based techniques are generally designed to replace manual processes in mass customization of food so as to reduce workload, save labor cost, and improve the efficiency of food manufacturing.…”

Section: Food Printing and Robotics-based Food Manufacturingmentioning

confidence: 99%

3D food printing—An innovative way of mass customization in food fabrication

Sun¹,

Peng²,

Liangkun³

et al. 2015

ijb

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About 15-25% of aging population suffers from swallowing difficulties, and this creates an increasing market need for food mass customization. Food industry is investigating mass customization techniques to meet individual needs on taste, nutrition and mouthfeel. Three dimensional (3D) food printing is a potential solution to overcome drawbacks of current food customization techniques such as lower production efficiency and high manufacturing cost. This study introduces the first generation food printer concept designs and functional prototypes that target to revolutionize customized food fabrication by 3D printing (3DP). Different from robotics-based food manufacturing technologies designed to automate manual processes for mass production, 3D food printing integrates 3DP and digital gastronomy technique to customize food products. This introduces artistic capabilities into domestic cooking, and extends customization capabilities to industrial culinary sector. Their applications in domestic cooking or catering services can not only provide an engineering solution for customized food design and personalized nutrition control, but also have potential to reconfigure customized food supply chains. In this paper, the selected prototypes are reviewed based on fabrication platforms and printing materials. A detailed discussion on specific 3DP technologies and their associate dispensing/printing process for 3D customized food fabrication with single and multi-material applications are reported. Lastly, impacts of food printing on customized food fabrication, personalized nutrition, food supply chain, and food processing technologies are reported and discussed.

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Section: Food Printing and Robotics-based Food Manufacturingmentioning

confidence: 99%

3D food printing—An innovative way of mass customization in food fabrication

Sun¹,

Peng²,

Liangkun³

et al. 2015

ijb

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“…(Tenorth et al, 2013a) suggest mining natural language "action recipes" as a way to specify tasks for service robots. In the domain of food recipes, there have already been several demonstrations (e.g., (Beetz et al, 2011;Bollini et al, 2013)) of robots automatically cooking meals based on recipes.…”

Section: Possible Applicationsmentioning

confidence: 99%

Proceedings of the ACL 2014 Workshop on Semantic Parsing

Lewis¹,

Steedman²

2014

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While there has been significant recent work on learning semantic parsers for specific task/ domains, the results don't transfer from one domain to another domains. We describe a project to learn a broad-coverage semantic lexicon for domain independent semantic parsing. The technique involves several bootstrapping steps starting from a semantic parser based on a modest-sized hand-built semantic lexicon. We demonstrate that the approach shows promise in building a semantic lexicon on the scale of WordNet, with more coverage and detail that currently available in widely-used resources such as VerbNet. We view having such a lexicon as a necessary prerequisite for any attempt at attaining broad-coverage semantic parsing in any domain. The approach we described applies to all word classes, but in this paper we focus here on verbs, which are the most critical phenomena facing semantic parsing. Introduction and MotivationRecently we have seen an explosion of work on learning semantic parsers (e.g., Matuszek, et al, 2012;Tellex et al, 2013; Branavan et al, 2010, Chen et al, 2011). While such work shows promise, the results are highly domain dependent and useful only for that domain. One cannot, for instance, reuse a lexical entry learned in one robotic domain in another robotic domain, let alone in a database query domain. Furthermore, the techniques being developed require domains that are simple enough so that the semantic models can be produced, either by hand or induced from the application. Language in general, however, involves much more complex concepts and connections, including discussion of involves abstract concepts, such as plans, theories, political views, and so on. It is not clear how the techniques currently being developed could be generalized to such language.The challenge we are addressing is learning a broad-coverage, domain-independent semantic parser, i.e., a semantic parser that can be used in any domain. At present, there is a tradeoff between the depth of semantic representation produced and the coverage of the techniques. One of the critical gaps in enabling more general, deeper semantic systems is the lack of any broadcoverage deep semantic lexicon. Such a lexicon must contain at least the following information: i. an enumeration of the set of distinct senses for the word (e.g., as in WordNet, PropBank), linked into an ontology that supports reasoning ii. For each sense, we would have• Deep argument structure, i.e., semantic roles with selectional preferences • Constructions that map syntax to the deep argument structure (a.k.a. linking rules) • Lexical entailments that characterize the temporal consequences of the event described by the verb The closest example to such lexical entries can be found in VerbNet (Kipper et al, 2008), a handbuilt resource widely used for a range of general applications. An example entry from VerbNet is seen in Figure 1, which describes a class of verbs called murder-42.1. VerbNet clusters verbs by the constructions they take, not by sense or meaning, alt...

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“…providing fast feedback-loops. In [4], the authors demonstrate the system by using a robot which downloads and parses a set of natural language instructions from a web page and translates these into a sketchy CRAM plan.…”

Section: Related Workmentioning

confidence: 99%

RoboEarth Action Recipe Execution

Marco¹,

Tenorth²,

Häußermann³

et al. 2013

Frontiers of Intelligent Autonomous Systems

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The ability of reusing existing task execution plans is an important step towards autonomous behavior. Today, the reuse of sophisticated services allowing robots to act autonomous is usually limited to identical robot platforms and to very similar application scenarios. The approach presented in this paper proposes a way to mitigate this limitation by storing and reusing task plans on a global accessible database. We describe the task execution engine for the RoboEarth project [26] to demonstrate its ability to execute tasks in a flexible and reliable way.

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Robotic roommates making pancakes

Cited by 180 publications

References 22 publications

3D food printing—An innovative way of mass customization in food fabrication

3D food printing—An innovative way of mass customization in food fabrication

Proceedings of the ACL 2014 Workshop on Semantic Parsing

RoboEarth Action Recipe Execution

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