Enhanced household automation through robotic manipulation
Yamsani, Sankalp
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Permalink
https://hdl.handle.net/2142/129646
Description
Title
Enhanced household automation through robotic manipulation
Author(s)
Yamsani, Sankalp
Issue Date
2025-05-09
Director of Research (if dissertation) or Advisor (if thesis)
Kim, Joohyung
Department of Study
Electrical & Computer Eng
Discipline
Electrical & Computer Engr
Degree Granting Institution
University of Illinois Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Robotics
Automation
Perception
Abstract
General-purpose manipulators are becoming increasingly common in both industrial and academic settings, with the long-term goal of integrating them into household environments to enhance everyday automation. However, existing systems still require significant effort for seamless integration.
To demonstrate the potential of advanced household automation, we retrofitted two common household appliances—a robotic vacuum and a tea table—with a 6 DoF manipulator and perception modules. The enhanced robotic vacuum is equipped with purposeful navigation and the ability to remove obstructions, making it more effective in cluttered environments. Meanwhile, the tea table setting showcases a specific task—chess gameplay—highlighting how careful planning can enable successful task execution, even with kinematic constraints.
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