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Communication Dans Un Congrès Année : 2021

ToolBot: Robotically Reproducing Handicraft

Kim Wölfel
  • Fonction : Auteur
  • PersonId : 1310818
Jörg Müller
  • Fonction : Auteur
  • PersonId : 1310819
Dominik Henrich
  • Fonction : Auteur
  • PersonId : 1310820

Résumé

We present ToolBot, a robotic system for creating handicraft with hand-held tools. Through using our process users are able to work with their favorite tools when producing handicraft. We observe the production process using motion capture. We provide a trajectory editor, which allows non-robotics-experts to semi-automatically edit the tool motion. Finally, ToolBot executes the movements using a lightweight robot arm. This is non-trivial for three reasons. First, the original tool trajectory might be non-replicable due the robots limited workspace, collisions, or singularities. Second, the robots maximum velocities and accelerations can be exceeded. Third, the user might want to let the robot use a different tool or replicate downscaled tool motion. We resolve these issues, such that the hand-held tool can be mounted on a robot arm, which can then mass-produce the handicraft. We evaluate the usability of ToolBot through a user study.
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hal-04292374 , version 1 (17-11-2023)

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Kim Wölfel, Jörg Müller, Dominik Henrich. ToolBot: Robotically Reproducing Handicraft. 18th IFIP Conference on Human-Computer Interaction (INTERACT), Aug 2021, Bari, Italy. pp.470-489, ⟨10.1007/978-3-030-85613-7_32⟩. ⟨hal-04292374⟩
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