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Efficient Tabletop Robotics Study

The document proposes a robot to efficiently put objects on tables by picking them up from the ground. The robot has a cubic base with wheels and an articulated robotic arm with a three-fingered hand. An algorithm is described where the robot uses its hand to grab an object, move its arm to position the object over a table, and open its hand to place the object. An evaluation compares the robot's faster speed and similar accuracy to humans in picking up objects. The robot was also found to reduce emotional stress compared to humans performing the task manually. Future work is needed to improve the robot's mobility over bumpy ground.

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28 views2 pages

Efficient Tabletop Robotics Study

The document proposes a robot to efficiently put objects on tables by picking them up from the ground. The robot has a cubic base with wheels and an articulated robotic arm with a three-fingered hand. An algorithm is described where the robot uses its hand to grab an object, move its arm to position the object over a table, and open its hand to place the object. An evaluation compares the robot's faster speed and similar accuracy to humans in picking up objects. The robot was also found to reduce emotional stress compared to humans performing the task manually. Future work is needed to improve the robot's mobility over bumpy ground.

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
robot are depicted in Figure 2.
Everyone has to put something on a table at some point.
However, picking things up is quite a tedious task. Reducing 3.2 Robot
the effort needed to do this would make everyone’s life much The base of the robot is a cube with wheels. In order to be
easier. able to grab things, it also has a robotic arm. At the end of
We will introduce a novel robot to tackle this problem in the arm is a robotic hand with three fingers. The complete
a much more efficient way. The efficiency is assessed in a robot can be seen in Figure 1, while the single parts of the
thorough evaluation. robot are depicted in Figure 2.

2 Related Work 3.3 Algorithm


The algorithm is very simple and consists of the following
The work of First and Second (2014) and others (Third,
steps:
2015) is fundamental in this research area. They show how
difficult it can be to pick things up and put them on a table. 1. Grab something using the pickup() function
All of these approaches work, but none of them is as
efficient as ours, as can be seen in Section 4. 2. Move arm to table

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

Figure 2: The different components of the proposed robot.

3. Open hand with open_hand()

Due to our efficient implementation, the algorithms run time


complexity is in O(n log n).

Data sets avg. speed avg. error Tears


Robot 125.1 2.2 Robotic Support
Human 87.4 2.1

Table 1: Pickup speed and error comparison.


No Tears

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
which are novices and some of which are experts in putting Figure 3: Qualitative assessment of emotional changes
things on tables. Table 1 shows the average pickup speed of during the period of robotic support.
our test subjects compared to the pickup speed of our robot.
During our experiments we discovered, that people being
supported by our robot are happier than people, who have to 6 Conclusion
grab their stuff themselves. This is qualitatively evaluated in We have developed a novel robotic solution to the problem
Figure 3. of picking things up and putting them on a table. Despite
the shortcomings described in Section 5, we still believe
5 Future Work in widespread usage of the presented robot within the next
While our robot is already able to outperform most of our decade.
test subjects in a fully autonomous manner, it still can be
improved with respect to the mobility. Right now, due to the
small wheels, it is not suited in situation with a potentially
very bumpy ground, e.g. gardening.

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