Retrieval Functionality for Robot to Assist Mobility Challenged Individuals

Old age leads to declines in mobility. A robotic system could assist in retrieving objects. The purpose of our project was to develop prototype modules for core functions of retrieval, including identification of a target object, locomotion toward the object, obstacle avoidance, approach to the object for the gripper, grasp and lift the object, and carry the object. A scaled down prototype was developed and tested on a wheeled platform. Image processing was used to identify and align the gripper with the object, LiDAR was used to avoid obstacles, a proximity sensor was used for the final approach to the object, microcontroller driven servo motors rotated the wheels and actuated the gripper to grasp and lift the object. The prototype showed promise, being able to identify and grasp objects on the floor, such as a cell phone, scissors, or a computer mouse.