Scientific articles from the project

Workshop at European Robotics Forum, 2021

Proceedings of the Challenges in Automated Food Processing Workshop at European Robotics Forum, 2021 Hosted in association with the RoBUTCHER project.

Robotisation and intelligent systems in abattoirs

Ian de Medeiros Esper, Pål J. From, Alex Mason

Published in Trends in Food Science & Technology


  • Reviewed intelligent robotic systems that are being developed or are already available for the carcass cutting and deboning.
  • Provides an overview of the current relevant automation in abattoirs.
  • Presents Overview, Process and Critical review of research and commercial projects.
  • Commercial products are Frontmatec AiRA Robots, Mayekawa Hamdas-RX, and SCOTT Automated Boning Room.
  • Research are SRDViand Z-cut robotic system, ham deboning system and ECHORD-DEXDEB, and SINTEF GRIBBOT.
  • Evaluate of production efficiency, worker’s health, hygiene standards, scalability to suit all production volumes.
  • Investigate the adaptability of these systems to different production concepts, e.g., cell based factory.

Robotic grippers for large and soft object manipulation

Kristóf TakácsAlex MasonLars Bager ChristensenTamás Haidegger

Published in 2020 IEEE 20th International Symposium on Computational Intelligence and Informatics (CINTI)

Grasping has always been considered a key domain of cyber-physical systems, through which action physical interaction can be achieved. This paper presents a systematic review of the state-of-the-art robotic soft object gripping solutions aimed for the food-industry, focusing on red meat handling. A categorized analysis about the currently used grippers is provided, that could be used or adapted to robotic meat-processing. The paper enlists various solutions and gripping principles for low-payload applications too, although the emphasis is on the classic shape-locking and force-locking grippers that are potentially capable of grasping and manipulating heavier specimens. The purpose of the scientific literature survey is mainly to identify exceptional and/or remarkable gripper-designs, or completely new gripping concepts, while the patent research presents complete, commercially available solutions

Deliverable: Quality and Risk Management Plan


This deliverable serves as a reference and guidance for RoBUTCHER project partners. It describes processes and instruments adopted within the project for the regular quality monitoring and risk assessment, to ensure timely and high‐quality delivery of all the materials and effective
management of possible risks.

Deliverable: Project Web Portal


This document presents the work done and currents status of the RoBUTCHER web portal (

Deliverable: Review of Available Cutting Tools: Recommendations regarding direction to develop such tools


Saws, knives and bespoke tools are evaluated for use in robotic slaughtering and primal cutting in an autonomous slaughter cell. As the project is in the initial phase further testing is necessary to make a final decision on the appropriate tools.

Deliverable: Data Management Plan


The purpose of the Data Management Plan (DMP) is to provide an analysis of the main elements of the data management policy that will be used in the RoBUTCHER project and by the project Consortium with regard to the project research data.

Deliverable: Gripping State-of-the-Art Review


Applying pulling force is essential in various stages of the pig processing,e.g., when dissecting the limbs or removing the inner organs. Various gripping solutions exist, which may allow for the grasping and gripping of
soft tissue organs ranging from skin to bowels. An overview of existing commercial, patented and prototyped version is provided to be able to
compare the layout and capabilities of different gripping solutions.

Deliverable: Robotics safety and legislative review

Safety of equipment, operator and the environment during robotic operation is paramount. Robotics is appearing in more and more industrial applications, while robots and robot systems are evolving fast
themselves, yet the legislations and standards regarding these topics lagging behind. Since RoBUTCHER is a pioneer project in employing
industrial robots for completely automated slaughtering, there is also no particular standard regulating directly this kind of application. The
purpose of this document – as the 1st deliverable of T1.2 – is to provide a general overview of the relevant standards (or other official documents) that could be used as guidelines for development, towards
a foreseen certification process in the future.