YORI: Autonomous Cooking System Utilizing a Modular Robotic Kitchen and a Dual-Arm Proprioceptive Manipulator

This article introduces the development and implementation of the Yummy Operations Robot Initiative (YORI), an innovative, autonomous robotic cooking system. YORI marks a major advancement in culinary automation, adept at handling a diverse range of cooking tasks, capable of preparing multiple dishes simultaneously, and offering the flexibility to adapt to an extensive array of culinary activities. This versatility is achieved through the use of custom tools and appliances operated by a dual arm manipulator utilizing proprioceptive actuators. The use of proprioceptive actuators enables fast yet precise movements, while allowing for accurate force control and effectively mitigating the inevitable impacts encountered in cooking. These factors underscore this technology's boundless potential. A key to YORI's adaptability is its modular kitchen design, which allows for easy adaptations to accommodate a continuously increasing range of culinary tasks. This article provides a comprehensive look at YORI's design process, and highlights its role in revolutionizing the culinary world by enhancing efficiency, consistency, and versatility in food preparation.