This article introduces the development and implementation of the Yummy Operations Robot Initiative (YORI), an innovative, autonomous robotic cooking system. YORI marks a major advancement in culinary automation, adept at handling a diverse range of cooking tasks, capable of preparing multiple dishes simultaneously, and offering the flexibility to adapt to an extensive array of culinary activities. This versatility is achieved through the use of custom tools and appliances operated by a dual arm manipulator utilizing proprioceptive actuators. The use of proprioceptive actuators enables fast yet precise movements, while allowing for accurate force control and effectively mitigating the inevitable impacts encountered in cooking. These factors underscore this technology's boundless potential. A key to YORI's adaptability is its modular kitchen design, which allows for easy adaptations to accommodate a continuously increasing range of culinary tasks. This article provides a comprehensive look at YORI's design process, and highlights its role in revolutionizing the culinary world by enhancing efficiency, consistency, and versatility in food preparation.

翻译：本文介绍了Yummy Operations Robot Initiative（YORI）的研发与实现，这是一套创新型的自主机器人烹饪系统。YORI在烹饪自动化领域实现了重大突破，不仅能够处理多样化的烹饪任务，还能同步制备多道菜肴，并具备灵活适配广泛烹饪活动的特性。其多功能性通过定制化工具与设备得以实现，这些工具由采用本体感驱动器的双臂操控器操作。本体感驱动器的应用在实现快速精准运动的同时，还能进行精确的力控，并有效缓冲烹饪过程中不可避免的冲击。这些优势凸显了该技术的无限潜力。YORI适应性的关键在于其模块化厨房设计，这种设计便于灵活调整，以持续拓展烹饪任务的覆盖范围。本文全面阐述了YORI的设计流程，并重点剖析了其通过提升食品制备效率、一致性与多样性，在革新烹饪领域方面所发挥的作用。