Eggshell Cutting Task Strategy for Robot that Handles Drill Based on Multiple Information Feedback of Force-sensing, Auditory-sensing, and Hand-position

Abstract

Autonomous robots are expected to perform minute tasks that require skill for humans. In order for robots to achieve autonomous tasks, multiple sensory information processing and feedback strategies are indispensable. This study focuses on eggshell cutting task strategy that supports the exposure of eggshell membranes by a robot that handles micro drill. We propose the task strategy that robot performs discrete and continuous cutting on eggshell and the failure detection when the eggshell membrane is damaged. Finally, we show the experimental results of the autonomous eggshell cutting tasks by robot and the human-assisted eggshell peeling and eggshell membrane exposure. Besides, we consider when to stop the cutting task so as not to break the eggshell membrane.