IEEE Robotics & Automation Magazine - June 2023 - 119

starting with modeling of two- or
three-arm robot cells [23], [24], [25] for
small, nonspecific, meat cutting tasks.
Delgado et al. [26] reported a prototype
dual-arm system with a holder for
deboning hams that uses an X-ray sensor
to accurately locate bone structures.
The Danish Technological Institute
(DTI) recently reported a robot cell [27]
that is analogous to tri-sectioning equipment
by which a chilled half carcass is
portioned into fore-, hind-, and midsection
parts. While conventional equipment
uses saw blades and therefore cuts
in straight lines, the DTI system enables
a curved cut; two 3D cameras enable
prediction of a pathway, and a small robot
with a customized pneumatic knife-tool
performs the removal. This has the
potential to improve yield and is well
into the development stage. Romanov
et al. [28] have also proposed the broader
development of cooperative robots that
can work alongside human operators to
increase the capacity of existing cutting
lines. Reconsidering the current structure
of meat automation entirely has also
been proposed, with a platform called
Meat Factory Cell (MFC), which uses
robots to perform more complex tasks
in cells [29]. This system has recently
been deployed in a small slaughterhouse
in Germany; however, it is still in development
(see the concept in Figure 6 and
the physical platform in Figure 7). This
platform seeks to perform a range of
tasks within cells with a small footprint,
potentially overcoming some of the
challenges of conventional line-based
approaches, namely, robustness, flexibility,
and scalability.
FIGURE 4. An example of an assistive system used in Norway, which presents turkeys on
a moving conveyor system for skilled operators to cut.
WHAT ARE THE MAIN CHALLENGES?
To answer that, one should consider
several factors. Starting with the raw
material, it is difficult to work with.
Never underestimate biological variation.
If you enjoy meat, perhaps even
consider yourself in your kitchen at
home: knife in one hand, the other trying
to pin down a piece of pork loin, or
a beef rump steak. It is slippery. It is
wet. It is malleable. We haven't even
Inspection
Cleaned Entire
Carcass
Primal Outputs,
Ready for Inspection
Meat Factory Cells
FIGURE 5. Special grippers are used
for handling soft materials like chicken
breasts both accurately and at high speed.
FIGURE 6. An overview of the MFC approach, where cells arranged in parallel process
several carcasses simultaneously to produce primal cuts. While the cuts performed are
not conventional [37], they are presented for inspection to align with today's practice.
JUNE 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE
119

IEEE Robotics & Automation Magazine - June 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2023

Contents
IEEE Robotics & Automation Magazine - June 2023 - Cover1
IEEE Robotics & Automation Magazine - June 2023 - Cover2
IEEE Robotics & Automation Magazine - June 2023 - Contents
IEEE Robotics & Automation Magazine - June 2023 - 2
IEEE Robotics & Automation Magazine - June 2023 - 3
IEEE Robotics & Automation Magazine - June 2023 - 4
IEEE Robotics & Automation Magazine - June 2023 - 5
IEEE Robotics & Automation Magazine - June 2023 - 6
IEEE Robotics & Automation Magazine - June 2023 - 7
IEEE Robotics & Automation Magazine - June 2023 - 8
IEEE Robotics & Automation Magazine - June 2023 - 9
IEEE Robotics & Automation Magazine - June 2023 - 10
IEEE Robotics & Automation Magazine - June 2023 - 11
IEEE Robotics & Automation Magazine - June 2023 - 12
IEEE Robotics & Automation Magazine - June 2023 - 13
IEEE Robotics & Automation Magazine - June 2023 - 14
IEEE Robotics & Automation Magazine - June 2023 - 15
IEEE Robotics & Automation Magazine - June 2023 - 16
IEEE Robotics & Automation Magazine - June 2023 - 17
IEEE Robotics & Automation Magazine - June 2023 - 18
IEEE Robotics & Automation Magazine - June 2023 - 19
IEEE Robotics & Automation Magazine - June 2023 - 20
IEEE Robotics & Automation Magazine - June 2023 - 21
IEEE Robotics & Automation Magazine - June 2023 - 22
IEEE Robotics & Automation Magazine - June 2023 - 23
IEEE Robotics & Automation Magazine - June 2023 - 24
IEEE Robotics & Automation Magazine - June 2023 - 25
IEEE Robotics & Automation Magazine - June 2023 - 26
IEEE Robotics & Automation Magazine - June 2023 - 27
IEEE Robotics & Automation Magazine - June 2023 - 28
IEEE Robotics & Automation Magazine - June 2023 - 29
IEEE Robotics & Automation Magazine - June 2023 - 30
IEEE Robotics & Automation Magazine - June 2023 - 31
IEEE Robotics & Automation Magazine - June 2023 - 32
IEEE Robotics & Automation Magazine - June 2023 - 33
IEEE Robotics & Automation Magazine - June 2023 - 34
IEEE Robotics & Automation Magazine - June 2023 - 35
IEEE Robotics & Automation Magazine - June 2023 - 36
IEEE Robotics & Automation Magazine - June 2023 - 37
IEEE Robotics & Automation Magazine - June 2023 - 38
IEEE Robotics & Automation Magazine - June 2023 - 39
IEEE Robotics & Automation Magazine - June 2023 - 40
IEEE Robotics & Automation Magazine - June 2023 - 41
IEEE Robotics & Automation Magazine - June 2023 - 42
IEEE Robotics & Automation Magazine - June 2023 - 43
IEEE Robotics & Automation Magazine - June 2023 - 44
IEEE Robotics & Automation Magazine - June 2023 - 45
IEEE Robotics & Automation Magazine - June 2023 - 46
IEEE Robotics & Automation Magazine - June 2023 - 47
IEEE Robotics & Automation Magazine - June 2023 - 48
IEEE Robotics & Automation Magazine - June 2023 - 49
IEEE Robotics & Automation Magazine - June 2023 - 50
IEEE Robotics & Automation Magazine - June 2023 - 51
IEEE Robotics & Automation Magazine - June 2023 - 52
IEEE Robotics & Automation Magazine - June 2023 - 53
IEEE Robotics & Automation Magazine - June 2023 - 54
IEEE Robotics & Automation Magazine - June 2023 - 55
IEEE Robotics & Automation Magazine - June 2023 - 56
IEEE Robotics & Automation Magazine - June 2023 - 57
IEEE Robotics & Automation Magazine - June 2023 - 58
IEEE Robotics & Automation Magazine - June 2023 - 59
IEEE Robotics & Automation Magazine - June 2023 - 60
IEEE Robotics & Automation Magazine - June 2023 - 61
IEEE Robotics & Automation Magazine - June 2023 - 62
IEEE Robotics & Automation Magazine - June 2023 - 63
IEEE Robotics & Automation Magazine - June 2023 - 64
IEEE Robotics & Automation Magazine - June 2023 - 65
IEEE Robotics & Automation Magazine - June 2023 - 66
IEEE Robotics & Automation Magazine - June 2023 - 67
IEEE Robotics & Automation Magazine - June 2023 - 68
IEEE Robotics & Automation Magazine - June 2023 - 69
IEEE Robotics & Automation Magazine - June 2023 - 70
IEEE Robotics & Automation Magazine - June 2023 - 71
IEEE Robotics & Automation Magazine - June 2023 - 72
IEEE Robotics & Automation Magazine - June 2023 - 73
IEEE Robotics & Automation Magazine - June 2023 - 74
IEEE Robotics & Automation Magazine - June 2023 - 75
IEEE Robotics & Automation Magazine - June 2023 - 76
IEEE Robotics & Automation Magazine - June 2023 - 77
IEEE Robotics & Automation Magazine - June 2023 - 78
IEEE Robotics & Automation Magazine - June 2023 - 79
IEEE Robotics & Automation Magazine - June 2023 - 80
IEEE Robotics & Automation Magazine - June 2023 - 81
IEEE Robotics & Automation Magazine - June 2023 - 82
IEEE Robotics & Automation Magazine - June 2023 - 83
IEEE Robotics & Automation Magazine - June 2023 - 84
IEEE Robotics & Automation Magazine - June 2023 - 85
IEEE Robotics & Automation Magazine - June 2023 - 86
IEEE Robotics & Automation Magazine - June 2023 - 87
IEEE Robotics & Automation Magazine - June 2023 - 88
IEEE Robotics & Automation Magazine - June 2023 - 89
IEEE Robotics & Automation Magazine - June 2023 - 90
IEEE Robotics & Automation Magazine - June 2023 - 91
IEEE Robotics & Automation Magazine - June 2023 - 92
IEEE Robotics & Automation Magazine - June 2023 - 93
IEEE Robotics & Automation Magazine - June 2023 - 94
IEEE Robotics & Automation Magazine - June 2023 - 95
IEEE Robotics & Automation Magazine - June 2023 - 96
IEEE Robotics & Automation Magazine - June 2023 - 97
IEEE Robotics & Automation Magazine - June 2023 - 98
IEEE Robotics & Automation Magazine - June 2023 - 99
IEEE Robotics & Automation Magazine - June 2023 - 100
IEEE Robotics & Automation Magazine - June 2023 - 101
IEEE Robotics & Automation Magazine - June 2023 - 102
IEEE Robotics & Automation Magazine - June 2023 - 103
IEEE Robotics & Automation Magazine - June 2023 - 104
IEEE Robotics & Automation Magazine - June 2023 - 105
IEEE Robotics & Automation Magazine - June 2023 - 106
IEEE Robotics & Automation Magazine - June 2023 - 107
IEEE Robotics & Automation Magazine - June 2023 - 108
IEEE Robotics & Automation Magazine - June 2023 - 109
IEEE Robotics & Automation Magazine - June 2023 - 110
IEEE Robotics & Automation Magazine - June 2023 - 111
IEEE Robotics & Automation Magazine - June 2023 - 112
IEEE Robotics & Automation Magazine - June 2023 - 113
IEEE Robotics & Automation Magazine - June 2023 - 114
IEEE Robotics & Automation Magazine - June 2023 - 115
IEEE Robotics & Automation Magazine - June 2023 - 116
IEEE Robotics & Automation Magazine - June 2023 - 117
IEEE Robotics & Automation Magazine - June 2023 - 118
IEEE Robotics & Automation Magazine - June 2023 - 119
IEEE Robotics & Automation Magazine - June 2023 - 120
IEEE Robotics & Automation Magazine - June 2023 - 121
IEEE Robotics & Automation Magazine - June 2023 - 122
IEEE Robotics & Automation Magazine - June 2023 - 123
IEEE Robotics & Automation Magazine - June 2023 - 124
IEEE Robotics & Automation Magazine - June 2023 - 125
IEEE Robotics & Automation Magazine - June 2023 - 126
IEEE Robotics & Automation Magazine - June 2023 - 127
IEEE Robotics & Automation Magazine - June 2023 - 128
IEEE Robotics & Automation Magazine - June 2023 - 129
IEEE Robotics & Automation Magazine - June 2023 - 130
IEEE Robotics & Automation Magazine - June 2023 - 131
IEEE Robotics & Automation Magazine - June 2023 - 132
IEEE Robotics & Automation Magazine - June 2023 - 133
IEEE Robotics & Automation Magazine - June 2023 - 134
IEEE Robotics & Automation Magazine - June 2023 - 135
IEEE Robotics & Automation Magazine - June 2023 - 136
IEEE Robotics & Automation Magazine - June 2023 - Cover3
IEEE Robotics & Automation Magazine - June 2023 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com