ToolBot: Robotically Reproducing Handicraft

Title data

Wölfel, Kim ; Müller, Jörg ; Henrich, Dominik:
ToolBot: Robotically Reproducing Handicraft.
In: Human-Computer Interaction – INTERACT 2021. - Cham : Springer , 2021 . - pp. 470-489
ISBN 978-3-030-85613-7
DOI: https://doi.org/10.1007/978-3-030-85613-7_32

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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.