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Project Group/Seminar/Lab Report: Putting Things On A Table Efficiently

This document proposes a robot to efficiently put objects on tables. The robot has a cubic base with wheels and an articulated robotic arm with a gripper. It uses a simple algorithm: grab an object, move the arm to the table, and open the gripper. In experiments, the robot was faster and more accurate than humans at picking up and placing objects. Users supported by the robot were happier than those doing the task manually. While effective, the robot needs improved mobility for rougher surfaces like gardens. Overall, the robot is an efficient solution to placing objects on tables.

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47 views2 pages

Project Group/Seminar/Lab Report: Putting Things On A Table Efficiently

This document proposes a robot to efficiently put objects on tables. The robot has a cubic base with wheels and an articulated robotic arm with a gripper. It uses a simple algorithm: grab an object, move the arm to the table, and open the gripper. In experiments, the robot was faster and more accurate than humans at picking up and placing objects. Users supported by the robot were happier than those doing the task manually. While effective, the robot needs improved mobility for rougher surfaces like gardens. Overall, the robot is an efficient solution to placing objects on tables.

Uploaded by

ghasemikasra39
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Project Group/Seminar/Lab Report:

Putting Things on a Table Efficiently


Lola Learnalot
Mat. Nr.: 1234567

January 16, 2021

Figure 1: The robot as a means to put things on tables efficiently.

Abstract 3 Methodology
Every day we pick things up from the ground and put them We will now discuss our novel approach in detail.
on tables. Despite the ubiquitous presence of this task, this
problem does not have a sufficiently optimized solution yet. 3.1 Robot
In this report, we will explore the usage of robotics in order
The base of the robot is a cube with wheels. In order to be
to make putting things on tables more efficient.
able to grab things, it also has a robotic arm. At the end of
the arm is a robotic hand with three fingers. The complete
1 Introduction robot can be seen in Figure 1, while the single parts of the
Everyone has to put something on a table at some point. robot are depicted in Figure 2.
However, picking things up is quite a tedious task. Reducing
the effort needed to do this would make everyone’s life much 3.2 Algorithm
easier. The algorithm is very simple and consists of the following
We will introduce a novel robot to tackle this problem in steps:
a much more efficient way. The efficiency is assessed in a
thorough evaluation. 1. Grab something using the pickup() function

2 Related Work 2. Move arm to table


The work of First and Second (2014) and others (Third,
2015) is fundamental in this research area. They show how 3. Open hand with open_hand()
difficult it can be to pick things up and put them on a table.
All of these approaches work, but none of them is as Due to our efficient implementation, the algorithms run time
efficient as ours, as can be seen in Section 4. complexity is in O(n log n).

1
(a) The robots body. (b) The robots arm.

Figure 2: The different components of the proposed robot.

Data sets avg. speed avg. error which are novices and some of which are experts in putting
things on tables. Table 1 shows the average pickup speed of
Robot 125.1 2.2 our test subjects compared to the pickup speed of our robot.
Human 87.4 2.1 During our experiments we discovered, that people being
supported by our robot are happier than people, who have to
Table 1: Pickup speed and error comparison. grab their stuff themselves. This is qualitatively evaluated in
Figure 3.

5 Future Work
While our robot is already able to outperform most of our
test subjects in a fully autonomous manner, it still can be
improved with respect to the mobility. Right now, due to the
Tears small wheels, it is not suited in situation with a potentially
very bumpy ground, e.g. gardening.
Robotic Support
6 Conclusion
We have developed a novel robotic solution to the problem
No Tears of picking things up and putting them on a table. Despite
the shortcomings described in Section 5, we still believe
in widespread usage of the presented robot within the next
decade.

Figure 3: Qualitative assessment of emotional changes


during the period of robotic support.

4 Evaluation
In order to find out, how useful the proposed robot is in
reality, I will do a user study with 500 participants, some of

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