Development of the Robot for the Cutting Hard Vegetables - Synthesis of Human Skill in the Cutting Tasks of Pumpkin

摘要

For preserving freshness of the vegetables, the most frozen foods are provided to the consumers from factory directly. In the process of the foods, for example, pumpkins the workers must be cut by hand in a mouthful similarity. However the work is very hard, the robotizing of such tasks is strongly requested for recent years. In order to reply such needs, we have started the project of developing the robot applied to the pumpkin cutting tasks. In this paper, we discuss the worker's skills based on the measurement and analysis, and propose the synthesized trajectory for the cutting robot.