A study of egg breaking motion by single robot arm

In this study, we aim to achieve a robot motion to break an egg by a single robot arm. Eggs are often used for cooking. The study of the egg breaking by a dual arm robot has been done until now. We considered an adequate motion to break an egg by using a single robot arm. The arm makes a crack on the egg by hitting it to the edge of a frying pan, opens the shell of the egg by hooking it to the edge of the pan, and the content of the egg is dropped into the pan. We confirmed that this task was successfully executed only by using a single robot arm with the generated motion.

1 Introduction

With the progress of an aging society, elderly people who live alone increase and it is expected that a home robot supports them in their daily life. In the future, robots will become widely used and care for elderly people and/or execute housework. Cooking is one of the typical housework that is indispensable in everyday life. It is thought that if the robot can break an egg well which is used frequently in various cooking, the applicable tasks by the robot will become wide.