DESIGN AND IMPLEMENTATION OF A WHITEBOARD DRAWING SYSTEM FOR THE TIAGO MOBILE MANIPULATOR

Date

2025-9-01

Author

Gülbeden, Anıl

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Most methods of communication with a robot today involve digital interfaces. While these methods are effective enough to exchange information, humans can use various other means to communicate with each other. In this thesis, we explore a medium of communication underutilized in robotics: drawing. We design and implement a software system for a mobile manipulator to give the robot the capability to draw on whiteboards. We evaluate different methods for each stage of the drawing system for their performance and reliability. We determine a combination of methods that form a high-reliability algorithm that can detect and move to whiteboards, and draw arbitrary trajectories on the whiteboard. We present experimental results on various parts of this problem.

Subject Keywords

mobile manipulator, robotic drawing, robot motion planning

URI

https://hdl.handle.net/11511/116149

Collections

Graduate School of Natural and Applied Sciences, Thesis