Modeling for robotic cutting of foods
In this talk, I will discuss the challenges in constructing a model for cutting of real-life deformable objects such as fruits and vegetables by a robot. In the first part of the talk, I will discuss how the finite element method and fracture mechanics can be used to model forces, strain energy, and deformation during cutting performed by a straight edge knife. This work was presented at IEEE/RSJ International Conference on Intelligent Robots and Systems last year. In the second part, the talk will focus on the ongoing work after the conference, which has considered the action of slicing as well as the effect of knife geometry. We have created a new model for characterizing the change in fracture toughness with slicing. This new model is used for more accurate modeling of cutting by slicing with a curved edge knife. Deformation modeling can be used in planning the trajectory of the knife. Force modeling can be used to single out a particular force (such as the knife-board contact force) from the sensor readings for control to realize a smooth cutting action.
Bio: Prajjwal Jamdagni is a doctoral student in the ISU’s Department of Computer Science working with Prof. Yan-Bin Jia. He has a bachelor’s degree in Mechanical Engineering from IIT Patna and a master’s degree in Information Technology from IIT Delhi. His research interests are in robotics and physics-based modeling.
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