  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.
