レシピを基にしたロボットによる料理の作業計画

抄録

In this paper, we propose a method to plan cooking tasks autonomously based on cooking recipes. When a robot plans a cooking task, it is not enough to use information on the actions and objects described in the cooking recipe. In this research, the actions and objects needed which are not described in the recipe but need to consider are clarified by expressing cooking tasks using a network structure. The proposed network can express the relationship between actions and objects and their state changes. Through experimental result of task planning based on a simple cooking recipe, it was confirmed that the robot could actually perform the cooking task.