> I would use the fork as a "shovel" for the peas

Well I don't personally mind, but this would be seen as poor form in the sense of the original article. You're 'supposed' to kind of spear them onto the end of the tines using the knife.

Also, with the scoop method, if the peas are hard enough, I would think they're at great risk of rolling around and off the fork. If I were going scoop style, I'd have to mash or at least flatten them a little first to prevent this.

No wonder robotics is hard.