Rheological Object Forming Heads: Shinichi Hirai Contact: Shinichi Tokumoto Date: 1997 - 2001 Mailing address: Dept. Robotics, Ritsumeikan Univ. Kusatsu, Shiga 525-8577, Japan Supported by: Associated lab/group:

Project Description

The goal of this project is to perform the automatic forming operations of rheological objects such as dough, paste, and jerry. Novel forming machine and forming control law using vision sensing are developed for the automatic forming of rheological objects.

2001/5/24	Shinichi Tokumoto was nominated to Finalist of 2001 IEEE Int. Conf. Robotics and Automation Kayamori Best Paper Award by Vision-based Automatic Forming of Rheological Objects Using Deformation Transition Graphs.

Forming operations of rheological objects such as dough, paste, and jerry strongly depend on humans in food industry. Automatic operations are required to keep the cleanness of the food products. Thus, we will develop an automatic forming machine of rheological objects.

We have developed a novel forming mechanism with multi degrees of freedom and have derive a forming control law using vision feedback. The developed forming system has the following features:

• Coping with the variation of the initial shapes, a rheological object can be formed into its desired shape.
• Forming operations can be achieved despite the change of physical properties during the operations.

			→		elastic object
	→		→		rheological object
natural shape		deformed shape	→		plastic object

Personnel

	Name	Title	Degree
	Takuya Saito	Graduated	Master of Eng.
	Yoshiaki Fujita	Graduated	Master of Eng.

Publications

• Shinichi Tokumoto and Shinichi Hirai, Deformation Control of Rheological Food Dough Using a Forming Process Model, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.2, pp.1457-1464, 10.1109/ROBOT.2002.1014749, Washington D.C., U.S.A., May 11-15, 2002
• Shinichi Tokumoto, Takuya Saito, and Shinichi Hirai, Vision-based Automatic Forming of Rheological Objects Using Deformation Transition Graphs, Proc. IEEE Int.Conf. on Robotics and Automation, Vol.1, pp.812-817, 10.1109/ROBOT.2001.932650, Seoul, Korea, May 21-26, 2001   Finalist of 2001 IEEE Int. Conf. Robotics and Automation Kayamori Best Paper Award
• Shinichi Tokumoto, Yoshiaki Fujita, and Shinichi Hirai, Deformation Transition Graphs in Forming Operations of Rheologic Objects, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, pp.3071-3076, 10.1109/ROBOT.2000.845135, San Francisco, CA, U.S.A., Apr. 24-28, 2000

Notes

Album

Automatic forming of pizza dough (mpg 3.2MB)

Automatic forming of pizza dough (mpg 8.2MB)

Rheological object automatic forming

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