The present application discloses an automated restaurant comprising: a kitchen; a customer-tracking area comprising a dining area; and a plurality of vehicles. The kitchen comprises a storage apparatus to store ingredient containers, a transfer apparatus to move ingredient containers, and one or more cooking stations. Each vehicle is configured to move one or more food containers from cooking stations to dining tables. A tracking system comprises cameras, lidars, etc., which are fixedly mounted. The tracking system can dynamically map out the fixtures, humans and vehicles in the restaurant. Information from the tracking system is used to control the motion of the vehicles. The tracking system can dynamically track the positions of customers in the customer-tracking area, so that foods ordered by specific customers may be automatically sent by vehicles to the customers' locations.

The present application discloses an automated restaurant comprising: a kitchen; a customer-tracking area comprising a dining area; and a plurality of vehicles. The kitchen comprises a storage apparatus to store ingredient containers, a transfer apparatus to move ingredient containers, and one or more cooking stations. Each vehicle is configured to move one or more food containers from cooking stations to dining tables. A tracking system comprises cameras, lidars, etc., which are fixedly mounted. The tracking system can dynamically map out the fixtures, humans and vehicles in the restaurant. Information from the tracking system is used to control the motion of the vehicles. The tracking system can dynamically track the positions of customers in the customer-tracking area, so that foods ordered by specific customers may be automatically sent by vehicles to the customers' locations.

In an embodiment, a method includes determining a given material to manipulate to achieve a goal state. The goal state can be one or more deformable or granular materials in a particular arrangement. The method further includes, for the given material, determining, a respective outcome for each of a plurality of candidate actions to manipulate the given material. The determining can be performed with a physics-based model, in one embodiment. The method further can include determining a given action of the candidate actions, where the outcome of the given action reaching the goal state is within at least one tolerance. The method further includes, based on a selected action of the given actions, generating a first motion plan for the selected action.

In an embodiment, a method includes determining a given material to manipulate to achieve a goal state. The goal state can be one or more deformable or granular materials in a particular arrangement. The method further includes, for the given material, determining, a respective outcome for each of a plurality of candidate actions to manipulate the given material. The determining can be performed with a physics-based model, in one embodiment. The method further can include determining a given action of the candidate actions, where the outcome of the given action reaching the goal state is within at least one tolerance. The method further includes, based on a selected action of the given actions, generating a first motion plan for the selected action.

A modular appliance apparatus is disclosed for use in the preparation of food products. The modular appliance apparatus may have a housing to contain internal components. The housing may contain a motor, a controller, and electronic circuitry. On a bottom portion of the housing, at least one base contact may be present. An attachment may secure to the bottom portion of the housing and contain at least one attachment contact. An electronic connection between the at least one base contact and at least one attachment contact may be interpreted by the controller to determine a speed of operation by the motor. Depending on the type of attachment secured to the housing, various different combinations of electronic connections may be made to operate the motor at different speeds to meet the requirements for food preparation by the specific attachment.

A modular appliance apparatus is disclosed for use in the preparation of food products. The modular appliance apparatus may have a housing to contain internal components. The housing may contain a motor, a controller, and electronic circuitry. On a bottom portion of the housing, at least one base contact may be present. An attachment may secure to the bottom portion of the housing and contain at least one attachment contact. An electronic connection between the at least one base contact and at least one attachment contact may be interpreted by the controller to determine a speed of operation by the motor. Depending on the type of attachment secured to the housing, various different combinations of electronic connections may be made to operate the motor at different speeds to meet the requirements for food preparation by the specific attachment.

A modular system for autonomous food assembly includes: a skid operable in a first configuration configured to transiently install on a vehicle and in a second configuration configured to transiently install in a kiosk; a set of food dispensing modules configured to transiently install on the skid and store and dispense food based on food orders; and a fixed infrastructure configured to distribute power from a first power source in the truck to the set of food dispensing modules in the first configuration, from a second power source in the fixed kiosk to the set of food dispensing modules in the second configuration, and to the set of food dispensing modules; a controller installed on the skid and configured to receive food orders and control the set of food dispensing modules to dispense food orders from the truck in the first configuration and from the kiosk in the second configuration.

A modular system for autonomous food assembly includes: a skid operable in a first configuration configured to transiently install on a vehicle and in a second configuration configured to transiently install in a kiosk; a set of food dispensing modules configured to transiently install on the skid and store and dispense food based on food orders; and a fixed infrastructure configured to distribute power from a first power source in the truck to the set of food dispensing modules in the first configuration, from a second power source in the fixed kiosk to the set of food dispensing modules in the second configuration, and to the set of food dispensing modules; a controller installed on the skid and configured to receive food orders and control the set of food dispensing modules to dispense food orders from the truck in the first configuration and from the kiosk in the second configuration.

A method for peeling potatoes with a food processor and a food processor which comprises for food preparation a detachable food preparation vessel, a heating element for heating a food in the food preparation vessel and a rotatable tool for mixing or chopping the food in the food preparation vessel. The method includes attaching a potato peeling disc having an abrasive structure on its surface from above to the tool which is located centrally at a bottom of the food preparation vessel to establish a manually releasable, rotationally coupled connection such that in operation the potato peeling disc rotates at the same rotational speed as the tool; addition of potatoes into the food preparation vessel from above onto the potato peeling disc; motorized rotation of the tool in a first direction of rotation and peeling of the potatoes with the potato peeling disc inside the food preparation vessel.

A potato peeling disc for peeling potatoes has a central opening formed by an inner contour of the potato peeling disc. A surface of the potato peeling disc comprises a plurality of teeth. The teeth have an orientation such that potatoes are peeled by the teeth by rotating the potato peeling disc in a first direction of rotation about a central axis which is coaxial with the central opening.