Bite Acquisition of Soft Food Items via Reconfiguration


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This paper focuses on bite acquisition of soft food items by reconfiguring them using a set of pre-acquisition manipulation actions before bite acquisition. A key challenge in acquiring soft food items is that a manipulation action such as vertical skewering often fails due to their unique physical properties. Our key insight is that in such cases, using preacquisition actions to reconfigure the food items may help in bite acquisition. Here, we develop a framework using which a robot can search in the joint space of acquisition actions and the pre-acquisition manipulation actions to maximize the success rate of bite acquisition. We showcase this using robot experiments to acquire leaves in a salad bowl.
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