Abstract
In this study, we aim to achieve robot motion to break an egg by a single robot arm. Eggs are often used for cooking. The study of breaking an egg by the dual-arm robot has been done until now. We consider adequate motion to break an egg by using a single arm robot. The arm makes a crack on an egg by hitting it to an 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 generated motion.
