Mako Miyatake, Aoi Watanabe, Yoshihiro Kawahara
We present a three-dimensional whipped cream printing technique for decorating cakes. Conventional cake decorating patterns are produced by specially trained professionals because substantial practice is required. In this paper, we introduce a printer that can stack whipped-cream voxels on a cake sponge using a robot arm. An interactive graphical user interface enables users to draw their favorite patterns on demand. By optimizing the motion of the nozzle, the robot can dispense and stack the cream accurately.