Manipulating liquid is widely required for many tasks, especially in cooking. A common way to address this is extruding viscous liquid from a squeeze bottle. In this work, our goal is to create a sauce plating robot, which requires precise control of the thickness of squeezed liquids on a surface. Different liquids demand different manipulation policies. We command the robot to tilt the container and monitor the liquid response using a force sensor to identify liquid properties. Based on the liquid properties, we predict the liquid behavior with fixed squeezing motions in a data-driven way and calculate the required drawing speed for the desired stroke size. This open-loop system works effectively even without sensor feedback. Our experiments demonstrate accurate stroke size control across different liquids and fill levels. We show that understanding liquid properties can facilitate effective liquid manipulation. More importantly, our dish garnishing robot has a wide range of applications and holds significant commercialization potential.

翻译：液体操控在许多任务中广泛应用，尤其在烹饪领域。常见方法是使用挤压瓶挤出粘性液体。本研究旨在构建一款酱料摆盘机器人，需精确控制表面挤出液体的厚度。不同液体需要不同的操控策略。我们指令机器人倾斜容器，通过力传感器监测液体响应以识别液体属性。基于液体特性，采用数据驱动方式预测固定挤压动作下的液体行为，并针对目标笔画尺寸计算所需绘制速度。该开环系统即使在没有传感器反馈的情况下也能有效运行。实验表明，该方案能够对不同液体及不同填充水平实现精确的笔画尺寸控制。研究表明，理解液体属性有助于实现高效液体操控。更重要的是，我们的菜肴装饰机器人具有广泛的应用场景及显著的商业化潜力。