In RoPHa, we developed a concept and implementation of a library of modular, sensor-adaptive manipulation skills for food handling and preparation, such as cutting waffles or spreading butter. On this basis, we could automatically instantiate complex robot programs based on the task context and current sensor inputs. We integrated our solution into a complete perception-action system together with vision sensors from roboception, the RoboSherlock perception framework of the University of Bremen and the Care-O-bot 4 assistance robot built by Fraunhofer IPA.

For more information, visit www.ropha-projekt.de.