IEEE International Conference on Communication information and Computing Technology (ICCICT), June 25-27, 2021, Mumbai, India

A systematic review of automated cooking

machines and foodservice robots
2021 International Conference on Communication information and Computing Technology (ICCICT) | 978-1-6654-0430-3/21/$31.00 ©2021 IEEE | DOI: 10.1109/ICCICT50803.2021.9510121

Akarsh Singh Aditya Chavan Vinay Kariwall

Dept. of Mechatronics Engineering
Mukesh Patel School of Technology
Management and Engineering, NMIMS
Mumbai, India
Email: akarshsinghh@gmail.com
Dept. of Mechatronics Engineering
Mukesh Patel School of Technology
Management and Engineering, NMIMS
Mumbai, India
Email: aditya22300@gmail.com
Dept. of Mechatronics Engineering
Mukesh Patel School of Technology
Management and Engineering, NMIMS
Mumbai, India
Email: vink1999@gmail.com

Chetna Sharma
Assistant Professor, Dept. of
Mechatronics Engineering Mukesh
Patel School of Technology
Management and Engineering, NMIMS
Mumbai, India
Email: chetna.sharma@nmims.edu.

Abstract— A colossal volume of automated applications is being
created every day in this epoch-making millennium. Robots are
powerful, critical for driving businesses and shaping major
industries today. Just like one is the sculptor of his persona,
Robotics is the essence of new-age technology. This paper
carefully peruses and examines the literature on automated
cooking machines and cooking service robots. Classifications
are made fundamentally on their purpose, the technology used,
and the cuisine they cater to. Present-day affirmative outcomes,
future implications, and limitations are discussed further in a
coherent manner. Further, A model is designed and simulated
that takes care of flagged limitations in cooking applications to
cook specific dishes.
Keywords—Cooking robot, technology, research, automation,
design, service, systems
I. INTRODUCTION
Improved robotic technologies and the advancement in
Artificial Intelligence (AI) lead to surplus profitability and
economic benefits in major industrial sectors. Robotics and
AI have given rise to self-learning, smart, and precise robots
capable of working for prolonged periods with high accuracy.
According to a published survey by Tricktia, 'Industrial
Robotics' will become an $18.25 billion market by 2025 [1].
Statista's Research Department also published that the sales
value of the 'Service Robotics Market' can cap over $3 billion
by 2022 [2]. With technology yet to advance to even higher
standards, we are currently looking at the fringes of an
automation reform one can foresee in the coming decades.
Robotic technology has had its fair share of impact in the food
and cooking industry. The emergence of kitchen bots, smart
kitchens, automated cooking machines, and robotic chefs are
live examples of futuristic advancements taking the industry
by storm.
The Robotics Business Review Report elaborates about food
preparation with service robots in general. It covers
interviews with renowned 'food robot makers' where they
address challenges they faced and the market potential of
such robots. Key takeaways from this report emphasize
companies utilizing robots in the food preparation space and
how service robots like Flippy (Designed and Developed by
Miso Robotics) can aid in food preparation to their limits [3].
A report by Oracle that explains emerging technologies
destined to reshape the restaurant business is a
comprehensive study of various technologies making a
difference [4]. Its purpose to embrace, innovate and adopt
technologies like AI, Biometrics, and 3D printing. Future
scope and real-time feedback on the banks of surveys were
also provided. It is to note that both these reports [1,2] Stress
the fact that despite automation and robotics have their place,
it will not subdue 'human touch/intervention' that is the heart
of an overall experience. They also project that robots can
take over mundane and repetitive tasks required domestically
or at the commercial level. In addition to this, The gaps
between service robots, customers, and employees are
bridged well in this academic review [5]. The general issues
related to the under-development of technology at the
commercial level and constraints related to funds and
adaptation perceptions are hurdles we must surpass.
II. DATA COLLECTION APPROACH
Information related to automated cooking robots and
machines was available from various resources. Keywords
like 'Automated Cooking Machine', 'Humanoid Robot',
'Cooking Robot', and 'Food Maker' were used to retrieve
relevant literature. Primarily resources were from Google
Scholar, Springer, IEEE Xplore, Researchgate, Statista, and
Science Direct that included research work about different
service robots created, their working mechanisms, and results.
Secondary sources comprised articles, surveys, patented
designs, and reports from reputed organizations and
corporations. Statistical information about worldwide
developments, prospects, and the market size was intrinsic
here. A panoramic overview with primary technical research
was critical for an expository review.

978-1-6654-0430-3/21/$31.00 ©2021 IEEE

zed licensed use limited to: SVKM¿s NMIMS Mukesh Patel School of Technology Management & Engineering. Downloaded on August 16,2021 at 03:24:40 UTC from IEEE Xplore. Restrictions
 Figure 1. Data Collection Approach
To improve our reporting, we underwent Preferred Reporting
Items for Systematic Reviews and Meta-Analyses
(PRISMA). This strategy helps ensure a systematic flow for
selection, exclusion, and scrutiny of research work before its
included in this review. After PRISMA, we finally used 26
papers from primary and secondary resources. During the
systematic study, we figured that the date of publication had
little relevance to the purpose of our review. Hence, little
attention diverted to this factor. Despite that, we observed
newer papers having a higher priority in our review due to
significant contributions to our sub-topics chosen. Further,
Papers having conjunction with more than one of the three
categories mentioned below has higher priority and
relevance. Most papers falling in the cuisine-specific
applications have a high priority as they have enhanced
technological modifications to achieve their purpose. Sub-
process-specific applications comprise the service robot
category under review in this work (in most cases). Papers
having a union in all three categories are of the highest
priority. The preferred items diagram is mentioned below for
reference.
Fig 2. PRISMA Flowchart
III. RESEARCH APPLICATION OVERVIEW
A. Cuisine Specific Applications
Research work on creating personalized robots made to
perfect specific cooking techniques and prepare dishes from
selected cuisine. Dual-Arm Robots with unique feeding
mechanisms help people with disabilities. Researchers from
South Korea's National Rehabilitation Centre worked on a
personalized feeding robot for Korean food. Here, the
emphasis was on curating two robotic arms with end-
effectors (one for grasping food and the other for transferring
it) which could work in sync to feed a food with boiled sticky
rice [6]. An up step to this was a Chinese Cooking Robot,
capable of preparing authentic Chinese food with traditional
zed licensed use limited to: SVKM¿s NMIMS Mukesh Patel School of Technology Management & Engineering. Downloaded on August 16,2021 at 03:24:40 UTC from IEEE Xplore. Restrictions
cooking methods in addition to an appropriate feeding
mechanism. A carefully designed metallic structure encloses
the modular robot with different functions. The robot
supports various frying techniques, (stir, deep, quick, and
burst) drainage, soaking food with gravy, feeding, and self-
cleaning for appropriate hygiene. It also has an attached
safety monitoring system integrated into the control unit for
fire hazards [7]. Attempts have been made to create robots
capable of creating essential Indian food items with mild
exactness. Research has been carried out on mechanisms that
can create these dishes that have complex cooking
procedures. A Dosa Bot was designed by students who
carried out research simulations for their proposed bot. A
dosa is a South Indian essential made from a salty, fermented
rice batter that is similar to a crepe. This bot integrates
multiple automated systems to personalize dosas to a specific
dimension and consistency [8]. Appam is yet another classic
South Indian food item, made out of coconut milk and
fermented rice batter. Student researchers from Kerala (India)
explored ways to automate, further commercialize
technology to streamline mass catering of this rather
strenuous household favourite recipe [9]. The positioning of
the pan with a 2DOF and Bunsen burner used to control the
flame along with a unique batter-pouring mechanism makes
the design novel. Bhel (Chaat), made of puffed rice,
vegetables, and a tangy tamarind sauce. An automated mixing
bowl had been designed to mix the ingredients and embrace
all the notes of flavour [10]. Variability of flavour and an
extended degree of customization optimized a simple tea-
making process. Simulation model creation and
implementation conclude for great consistency in flavour
choices of tea and its grade [11].
B. Sub-Process Specific Applications
The food industry comprises a convolution of multiple tasks
to keep things moving. The cooking process itself goes from
the aggregation of raw ingredients to cooking methods and
techniques with myriad combinations. This focus and
research on automating sub-processes have been significant.
This paper deployed a herb classifier model to distinguish
herbs from photographs using machine learning classification
methods like Deep Neural Networks (DNN's) and Support
Vector Machine (SVM). Features like herb shape, size, and
texture were critical parameters for analysis [12]. A
systematic prototype designed for cooking and ingredient
management used a cloud-based system with recipes,
cooking instructions, and wireless communication module
setup [13]. Since spices and seasoning are paramount to a
flavoursome meal, a seasoning dispenser justifies its cause.
This device dispenses dry-powdered spice precisely
according to user input via a user interface. An electronic
control system was central to the design [14]. Cooking food
is the most common housework, designing a robot that can
perfectly crack an egg will reduce human involvement. A
single-armed robot that uses two fingers (end-effectors) to
crack an egg successfully was created. The main parameters
for this experiment were grasp force, hitting tilt angle, and the
cracking speed [15]. The Quad-Spatula Gripper (QS Gripper)
is a 4-finger claw-shaped robot. The modules of the finger
have different infill density which affects their flexibility.
The modules are assembled in block forms making this a
modular robot. The tip of the fingers has a spatula-like shape
 so that they can easily slide under food items. The results
showed that this type of gripper was more efficient than a
conventional parallel gripper. With the help of magnetic
guidance, the accuracy came up to 80% [16]. A systematic
review was published on various oil dispensing creations in
this paper that is critical to cooking food [17]. To address the
potential market for such specific purpose service robots, a
survey conducted on consumer household device ownership
in America shows that the top 4 appliances and 5 out of 10
owned by most people were related to food and cooking
(blender, food processor, juicer, etc.) [18].
C. Technology Specific Applications
The advent of new technologies has opened several avenues
for improvement. The advanced technology used has positive
performance implications, accuracy, and better reliability
concerning minimal human intervention. The following types
of systems have been widely used in most applications and
will be revised below.
Micro-Controller Based Systems- With emerging open-
source hardware and software companies in recent years.
Controllers have been popular among researchers and
creators. With easy access, integration capacities with other
supporting devices, and highly customizable components,
many projects related to automated cooking have used them.
An Arduino Uno centralized valve control and computer
numerical control (CNC) shield to schedule motor movement
that triggers pouring of dosa batter [8]. The robot uses an
embedded system that works on an algorithm that draws
identical dosas on a hot pan. The dimensions of dosa are
given as the input to the robot via Inkscape software. The
ATmega328P board was used with other components like
Stepper motor NEMA 17 (4-phase), Air pump (4.2 watts and
2*5.5 l/m pressure), and a pair of induction aluminium
coils.[9] AT89S52 high-performance microcontroller was
central in this paper. Other components controlled by it were
proximity sensors, 60RPM spur gears, and metal ball
bearings. The Arduino Mega 2560 microcontroller is used to
manage induction temperatures, driving motors, triggering
solenoid valves, and induces sequential delay (L298N DC
motor and a pair of 8 and 4 channel relay modules were
integrated) [19].
PLC and or HMI Based Systems- With great speed,
flexibility, and ease to conditionally code and debug
commands. PLC's (Programmable Logic Controllers) boast
multiple advantageous opportunities for automating
processes. HMI (Human Machine Interface) is capable of
carrying out a diverse range of tasks from simple binary
operations to complicated sequences. HMI provides real-time
feedback as well. The authors used PLC based system for
cooking Indian gravy. A sequential top-bottom approach was
undertaken with limit and level switches convoluted [20].
This paper used Delta Made DVP14SS11R2 PLC with Delta
WPLSoft (Ladder Diagram Mode) to create an automated
cooking machine. It had four mechanisms sequenced
according to recipes (tray, conveyor, tilting, and lid
mechanism) with diagrammatic charts. HMI was connected
with a serial communication cable (RS232) to the PLC for
user interaction purposes [21].
zed licensed use limited to: SVKM¿s NMIMS Mukesh Patel School of Technology Management & Engineering. Downloaded on August 16,2021 at 03:24:40 UTC from IEEE Xplore. Restrictions
Robotics and AI-Based Systems- Implementation of such
technologies require vast expertise and expansive
collaboration with expert designers, developers, and
physicists. Component cost is very high and the number of
mathematical calculations is exponential to model
complexity. Computer Vision and real-time classification
capabilities increase production time. Nonetheless, these
systems will benefit commercially and are the way to go. In
this example, The egg is first picked by maintaining the
distance between the fingers then keeping the hitting angle at
45 degrees. This robot uses a position control to grasp the egg
and likewise, the grasping force varies every time [15]. The
Quad-Spatula Gripper (QS Gripper) uses a scraping strategy
to pick up the ingredients. It utilizes magnetic guidance for
better locking and precision. Multiple tests finalized factors
like Joint stiffness, finger revolute connection, and
interlocking interface. The use of magnets made up for the
errors occurring due to inconsistencies during 3D printing.
The gripper was reinforced on Universal robot UR5 that had
fixed trajectories. A future improvement would be to make it
in smaller sizes and with visual feedback [16]. The authors in
this paper entail rigorous mathematical research to recreate
the motion of a wok. It's based on traditional Chinese cooking
methods. Detailed construction and reasoning, Kinematic
analysis, workspace analysis, and comprehensive
experimental results make this paper an excellent
contribution to the research community [7]. This paper
displays a great demonstration of a standardized approach
with their dual-arm humanoid cooking robot [22]. Each arm
has a 6 DOF. The Lagrangian method was used to calculate
dynamic equations and coordinate frames were assigned to
links using the Denavit-Hartenberg convention. The robot
also had autonomous navigation capabilities. Finally, This
paper was designed to develop a better method for motion
analysis. The main idea was to have multiple constraints
using the physical property of the parts. For this experiment,
they have considered the motion of flipping a pancake which
is a better option for the virtual kinematic joint than Cartesian
transformations. To find the discontinuities in this robot we
require two constraints to check the threshold limit, the first
one being the path of a spatula and the second one being
where it is pointing [23].
Miscellaneous Systems- Apart from the systems mentioned
above, researchers have shown sizeable creativity and
problem-solving skills to implement novel techniques to
automate cooking/food-making processes. A fantastic piece
of work in terms of tea flavour customization and texture. A
fuzzy logic controller was used with five input parameters. It
gives users great flexibility to customize tea as they like it.
By fuzzification process and optimization, this paper
managed to control factors like tea leaf amount, sugar, milk,
brewing time, etc. A total of 40 combinations could be
possible by tweaking parameters. MATLAB Simulink was
used to perform this research. Diagrammatic representation
of simulation results adds value to the paper's contribution to
this field. The authors of this paper have strategically
combined multiple concepts to create a great product [11].
Convolution Neural Networks have been used to optimize the
taste and ingredients according to the user's liking. Predictive
algorithms also provide an estimate of remaining ingredients,
potential dishes, and sequencing for the month. An android
 application for monitoring makes this project a great example
of multi-objective optimization and resource utilization (food
ingredients). Multiple models and designs have also been
patented by creators [13]. This design was created keeping
Chinese cooking methods in mind. Robotic arms had a reach
to perform multiple tasks. A table-like structure with
multipurpose slots makes this design one of its kind [24]. The
second patent reviewed has a unique ingredient
storing/dispensing mechanism. Circular blades to cut through
a thin film that contains interchangeable ingredients placed
over a pressure cooker where autonomous cooking is carried
out. Tilting mechanisms and communication ports are
additional design paradigms in this patent [25].
6. Example: Flippy, Motoman Example: AUSCA,
SDA5 Mechanical chef
From the literature reviewed, we can infer that Robotic and
AI systems are the path to enlightenment for this industry in
general. These systems are much more versatile, precise, and
self-learn over time. Even though designing such
robots/machines might be a perpetual project with continuous
development. Once deployed, they can have rewarding
outcomes. The flowchart below is representative of a
standard approach to design robotic arms.
Fig 3. Robotic Arm Design Flowchart

IV. DISCUSSION
The research work discussed brings with it novel innovations
and technological applications. Some of these works stand
out as the epitome of modern-day automation progress. The
discussed spectrum goes from minor projects to
commercially sound implications. The use of multiple
systems comes with its perks but at the same time requires
knowledge to cover unfilled gaps. The table below is the
result of this holistic analysis of various systems. It's vital to carefully select materials that come in contact with
edibles as they can have ill effects on the consumer. Many
Table 1. Overview of Reviewed Systems papers have not analyzed this need which can be a drawback
eventually. Most machines require a lot of human interaction
Generalized Overview of Reviewed Systems
Sr before a meal can be cook automatically. This point has been
no. Type of
System
Pros Cons subdued in most papers as it is a direct threat to the cause
Not suitable for itself. For example, freshly cut vegetables have to be stored
Systematic design,
Micro- commercial manually in containers, heat regulation is manual in others,
cheap, simple
1. Controller applications, limited
integration, and whereas, from a hygiene perspective, most papers don't have
Based expansion capabilities,
customizable the capabilities to clean by themselves. A good practice of
low power applications
Sequential flow, open- Tedious connection technology cannot offset the element of practicality, some
PLC and source availability, process, exhaustive machines designed are non-practical prototypes that serve
2. HMI expansive, capable of debugging, and skilled little purpose in real-world scenarios. Of course, there is
Based carrying out complex workforce required for
operations implementation scope for great things to happen soon. Perhaps the installation
Offers high flexibility, High development of automated breakfast machines can lessen the number of
AI and versatility, expansive cost, mathematically people who tend to skip breakfast. This published work has
3. Robotics reach to workspace, intensive, huge an ample number of examples to emphasize nutritional
Based high precision, and workforce requirement,
benefits with the health impacts of having a good breakfast
accuracy. high maintenance cost
Lacks generalization, claiming it to be the most important meal of the day.
Mixed Machines can also manage ingredients and complete
4. Application-specific and non-commercial
Based
implication mundane tasks like cleaning, cutting vegetables, etc. [26].
Table 2. Comparison of foodservice robots and automated cooking
machines V. PROPOSED SIMULATED MODEL
Sr Foodservice Robots Automated Cooking
no. Machines Fig 4. Designed 3D model during real-time operation
1. These robots usually speed up the These machines are capable
process of cooking and ease of cooking a meal with
mundane tasks minimum or no human
intervention
2. Highly accurate with good Less accurate and precise
precision
3. Functionality is task-specific or Functionality is in sync
sub-process specific with the dish to be made
4. Commercialized to a greater Less commercialized in
extent in comparison to comparison to foodservice
automated cooking machines robots

5. Commercial kitchen foodservice Cost depends on application

robots are very expensive and scalability

zed licensed use limited to: SVKM¿s NMIMS Mukesh Patel School of Technology Management & Engineering. Downloaded on August 16,2021 at 03:24:40 UTC from IEEE Xplore. Restrictions
 Fig 5. Designed 3D model when not operational
The proposed simulated model was initially created to make
an automated omelette cooking machine. The design,
however, was later modified to cook any dish that required a
considerable amount of 'mixing' or 'stirring'. The 3D model
was created on Fusion360 software where each element was
designed individually. A detailed consideration of component
selection, material selection, force analysis, and scalability
was performed as well. Each component has independent
movement and its respective degree of freedom. This will
provide customization and flexibility to the model. It also
considers vital factors like hygiene, food-safe materials, and
decent storage capacities that were flagged as limitations in
existing cooking machines. All the model designing was
done with the help of datasheets that we got from the
McMaster-Carr tool. The components in this model are
according to size. The dimensions of induction and the pan
were taken from the actual product available in the market.
The smaller components that are custom-made were designed
in such a way that they satisfy the stress requirement and also
avoid congestion. The material selection was done keeping in
mind the total weight of the machine and also the torque
requirements. Due to this on the motors, while also keeping
in mind the total cost of the project. The assembly was
completed using a fusion 360 feature called combine. This
combines the two selected components and also checks the
free motion between them. We determined the correct motor
size for our project in two ways; first, we manually calculated
the required torque and acceleration, secondly, we calculated
using software made by oriental motors. We then selected the
motor which satisfied our requirements, is small in size and
not very expensive. We then studied the ambient temperature
rating of these motors.
A. Manual Calculation:
In this, we used specific formulas to find the required torque.
We first found out the centre of mass of the moving part by a
tool in Fusion 360. For this, we had to make sure that our
model was of the correct dimension. We then found the
weight of the component that is being moved after selecting
the materials in Fusion 360 itself. We then calculated the
distance between the shaft of the motor till the centre of mass.
For torque calculation, we used the formula Torque=Force x
Displacement. After calculating the torque we doubled the
torque as the actual motor output comes in RMS value thus
zed licensed use limited to: SVKM¿s NMIMS Mukesh Patel School of Technology Management & Engineering. Downloaded on August 16,2021 at 03:24:40 UTC from IEEE Xplore. Restrictions
being lower than it’s mentioned (standard assumption). After
doubling the motor required torque, we selected a motor that
had mentioned torque and was compact.
Fig 6. Example of results after inputs to software to determine motor
specifications
B. Software Calculation:
Solely to verify if the selected motor will satisfy our torque
requirements. In this software from Orient Motors, we have
to feed in the dimension of the component, axis of rotation,
the material of the component, and the type of the component
(i.e. hollow or solid). The software will then calculate the
exact mass, the moment of inertia of the component and will
suggest motors that will satisfy the minimum torque
requirement.
C. Materials Required
For the central part of this body, we have selected stainless
steel that makes it heavier but capable of withstanding high
temperatures. The material used for the arm and the lit is
polypropylene, a lightweight, high tensile compound. It can
also withstand heat, making it perfect for the lid and the end
effector arm. For the containers, we have used PET plastic
which is light and transparent, this helps to identify which
vegetable is inside it. All of the materials used in this project
are food safe. Some components used were DC 6V brushed
motor, MG996R servo motor, Nema 24 stepper motor, etc.
VI. CONCLUSION
From this study, we could conclude that no machine/robot
designed is free from manual intervention. To maintain top-
notch cleanliness most systems require a human touch.
Ingredients also have to be stored manually. Although food
storage is inevitably a manual process with the current
advancement in technological capabilities, Provision with
mincing, dicing, and cutting ingredients like vegetables is
rare. Automated cooking machines have great scope
foreseeably and have fruitful value addition prospects to
medium-high income households. From our review, it is also
clear that Robotic technology is the way to go for such
applications. They provide versatility in movement with the
flexibility to do repetitive tasks with precision. Micro-
controller-based or PLC-based applications have great value
in sequential operations but perform poorly otherwise.
Foodservice robots can add tremendous value to busy
 kitchens and restaurant chains to do complete tasks.
Integration of smart-kitchen management systems and
ingredient optimization modules will also provide great
convenience. Our prototype model was a complete
simulation and had its limitations. There are not any
provisions for plating food and adequate self-cleaning
measures. However, it's a good demonstration of the
sequential cooking process, designing, and mechanical
analysis required to construct any robotic application. The
more there are options for independent movement in terms of
mechanical parts and their degree of freedom, the more we
can do in cooking applications. In terms of repetitive tasks
like washing, cutting, and measuring ingredients, any precise
robot capable of doing so will make life easy for homemakers
who spent 253 minutes a week cooking. Finally, any
development in this field will further embrace 'smart' cooking
that subsumes within the spectrum of mechatronics and
automation. Many companies are coming up with prototypes
for cooking machines and, It would be hardly surprising to
see such devices as commonly as we see fridges or
microwaves in homes. However, stating that human
intervention will be eliminated in chores related to cooking
food is highly unlikely.
ACKNOWLEDGMENT
We would like to thank our project mentor, Professor Chetna
Sharma, for her unparalleled guidance, enthusiasm, and
support. We also appreciate efforts from the Mechatronics
Department of MPSTME to provide us with academically
productive learning opportunities. We would also
acknowledge the support of our colleague Ms. Aparna
Sharma for endless suggestions and fruitful discussions.
REFERENCES
[1] Tractica. (June 27, 2018). Size of the industrial robotics market
worldwide from 2018 to 2025 (in billion U.S. dollars) [Graph]. In
Statista
[2] Statista. (March 2, 2021). Sales value of the service robotics market
worldwide from 2018 to 2022, by region (in million U.S. dollars)
[Graph]. In Statista
[3] Shaw K. “Food Preparation Robots Prove Their Worth”, Robotics
Business Review, July 12, 2019.
[4] Oracle, Food, and Beverages, “Restaurant 2025 emerging technologies
destined to reshape our business”, 2017
[5] Lu, Vinh & Wirtz, Jochen & Kunz, Werner & Paluch, Stefanie &
Gruber, Thorsten & Martins, Antje & Patterson, Paul. (2020). Service
Robots, Customers, and Service Employees: What Can We Learn from
the Academic Literature and Where are the Gaps?. Journal of Service
Theory and Practice. 30. 361-391. 10.1108/JSTP-04-2019-0088.
[6] Won-Kyung Song, Jongbae Kim, Kwang-Ok An, In-Ho Lee, Won-Jin
Song, Bum-Suk Lee, Sung-Il Hwang, Mi-Ok Son, and Eun-Chang Lee.
2010. Design of novel feeding robot for Korean food. In Proceedings
of the Aging friendly technology for health and independence, and 8th
international conference on Smart homes and health telematics
(ICOST'10). Springer-Verlag, Berlin, Heidelberg, 152–159.
[7] W. X. Yan, Z. Fu, Y. H. Liu, Y. Z. Zhao, X. Y. Zhou, J. H. Tang, and
X. Y. Liu. 2007. A novel automatic cooking robot for Chinese dishes.
Robotica25, 4(July2007),445–450.
DOI:https://DOI.org/10.1017/S0263574706003250
[8] R. K. Megalingam, S. Raagul, Y. Avs, K. Sriniketh and S. Bcsc,
"Compact, Handheld Dosa Bot Design," 2018 2nd International
Conference on Trends in Electronics and Informatics (ICOEI),
Tirunelveli, 2018, pp. 147-151, DOI: 10.1109/ICOEI.2018.8553713.
[9] Sreerag M P, Praise Sabu, Sukesh P P, Toney Varghese, and Vaishak
S Kurup. (2017). Design and Development of Automated Appam
zed licensed use limited to: SVKM¿s NMIMS Mukesh Patel School of Technology Management & Engineering. Downloaded on August 16,2021 at 03:24:40 UTC from IEEE Xplore. Restrictions
Maker. International Journal for Innovative Research in Science &
Technology, 3(11), 313-321.
[10] Suraj Dhavalshankh, Vrushabh Sawant, Pratap Khade, Vishnu
Kambale, Randhir Patil, Paper on Smart Food Mixture Machine,
International Research Journal of Engineering and Technology
(IRJET), Vol 04, March 2017.
[11] Ahamed, Nizam & Taha, Zahari & Mohd Khairuddin, Ismail & Rabbi,
Mohammad & Sikandar, Tasriva & Palaniappan, Rajkumar & Ali, Md.
Asraf & Rahman, SAM & Sundaraj, Kenneth. (2016). Development of
Fuzzy Inference System for Automatic Tea Making
10.1109/I2CACIS.2016.7885314.
[12] A. Muneer and S. M. Fati, "Efficient and Automated Herbs
Classification Approach Based on Shape and Texture Features using
Deep Learning," in IEEE Access, vol. 8, pp. 196747-196764, 2020,
DOI: 10.1109/ACCESS.2020.3034033.
[13] B. S. Sharath, R. Srisha, K. V. Shashidhar, and S. S. Bharadwaj,
"Intelligent and Smart Cloud-Based Autonomous Robotic Kitchen
System," 2018 Second International Conference on Intelligent
Computing and Control Systems (ICICCS), Madurai, India, 2018, pp.
601-606, DOI: 10.1109/ICCONS.2018.8663208.
[14] Pawel Michalski and Elliott Robinson, Automatic Seasoning
Dispenser, ECE 445 Project Proposal - Fall 2019
[15] N. Yoshida, T. Yoshimi, M. Mizukawa and Y. Ando, "A study of egg
breaking motion by a single robot arm," Proceedings of the 32nd
Chinese Control Conference, Xi'an, China, 2013, pp. 6057-6062.
[16] A. Gafer, D. Heymans, D. Prattichizzo and G. Salvietti, "The Quad-
Spatula Gripper: A Novel Soft-Rigid Gripper for Food
Handling," 2020 3rd IEEE International Conference on Soft Robotics
(RoboSoft), New Haven, CT, USA, 2020, pp. 39-45, DOI:
10.1109/RoboSoft48309.2020.9115968.
[17] Sadique, S.K., & Vanalkar, A.V. (2015). Literature Review on Design
& Fabrication of Oil Measuring & Dispensing Machine.
[18] Statista Survey. (May 29, 2017). Consumer household device
ownership in the United States as of May 2017, by device type [Graph].
In Statista.
[19] Rakshitha M J, Mr. Madan G, Dr. K R Prakash, Mr. Shivaraj C S,
Design and Development Automated Food Maker, IRJET-
International Research Journal of Engineering and Technology, 2019
[20] V.B.Kumbhar, L.S. Admuthe, Implementation of PLC Based
Automated Cooking Machine, IRJET-International Research Journal
of Engineering and Technology, 2017
[21] Patel Reema, Kunwar Jay Kumar D, Automated Cooking Machine
Using PLC, and HMI, International Journal of Latest Technology in
Engineering, Management & Applied Science (IJLTEMAS), Volume
V, Issue V, May 2016
[22] J. Zhai, G. Pan, W. Yan, Z. Fu, and Y. Zhao, "Dynamic analysis of a
dual-arm humanoid cooking robot," 2015 IEEE 10th Conference on
Industrial Electronics and Applications (ICIEA), Auckland, New
Zealand, 2015, pp. 835-838, DOI: 10.1109/ICIEA.2015.7334226.
[23] G. Bartels, I. Kresse and M. Beetz, "Constraint-based movement
representation grounded in geometric features," 2013 13th IEEE-RAS
International Conference on Humanoid Robots (Humanoids), Atlanta,
GA, USA, 2013, pp. 547-554, DOI:
10.1109/HUMANOIDS.2013.7030027
[24] Dawei Dong, 38736 Almaden Pl, Fermont (CA) US 96.536, Robotic
Cooking System, US Patent-US 7,174,830 B1, February 2007
[25] Yoel MARTINEZ, Hialeah, FL (US), Patent Application Publication,
Automated Cooking System, and Method, US 2014/0377417 AI,
December 2014
[26] Charles Spence, Breakfast: The most important meal of the day?
International Journal of Gastronomy and Food Science, Volume 8,
2017, Pages 1-6, ISSN 1878-450X,
https://DOI.org/10.1016/j.ijgfs.2017.01.003.(https://www.sciencedire
ct.com/science/article/pii/S1878450X17300045)