{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/129646"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/129646","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Enhanced household automation through robotic manipulation","abstract":"Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2027-05-01","abstract_html":"Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2027-05-01","abstract_has_math":false,"creators":["Yamsani, Sankalp"],"institution":"University of Illinois Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Kim, Joohyung"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-05-09","date_published":"2025-05-09","updated_at":"2026-07-22T22:25:05Z","subjects":["Robotics","Automation","Perception"],"languages":["en","eng"],"rights":["© 2023 IEEE. Reprinted, with permission, from Kevin G. Gim et al., ”What if a Vacuum Robot has an Arm?,” 2023 20th International Conference on Ubiquitous Robots (UR), 2023. © 2023 IEEE. Reprinted, with permission, from Kazuki Shin et al., ”Exploring the Capabilities of a General-Purpose Robotic Arm in Chess Gameplay,” 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), October 2023."],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/2142/129646","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Kim, Joohyung"]},{"key":"dc:creator","label":"Author","values":["Yamsani, Sankalp"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2025-05-09","2025-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robotics","Automation","Perception"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en","eng"]},{"key":"dc:rights","label":"Dc Rights","values":["© 2023 IEEE. Reprinted, with permission, from Kevin G. Gim et al., ”What if a Vacuum Robot has an Arm?,” 2023 20th International Conference on Ubiquitous Robots (UR), 2023. © 2023 IEEE. Reprinted, with permission, from Kazuki Shin et al., ”Exploring the Capabilities of a General-Purpose Robotic Arm in Chess Gameplay,” 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), October 2023."]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://hdl.handle.net/2142/129646"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2027-05-01","The student, Sankalp Yamsani, accepted the attached license on 2025-05-09 at 14:07.","The student, Sankalp Yamsani, submitted this Thesis for approval on 2025-05-09 at 14:11.","This Thesis was approved for publication on 2025-05-09 at 14:38.","DSpace SAF Submission Ingestion Package generated from Vireo submission #22290 on 2025-10-19 at 19:17:16","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."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Enhanced household automation through robotic manipulation"]}]}],"canonical_facts":{"dc:contributor":["Kim, Joohyung"],"dc:creator":["Yamsani, Sankalp"],"dc:date":["2025-05-09","2025-05"],"dc:description":["Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2027-05-01","The student, Sankalp Yamsani, accepted the attached license on 2025-05-09 at 14:07.","The student, Sankalp Yamsani, submitted this Thesis for approval on 2025-05-09 at 14:11.","This Thesis was approved for publication on 2025-05-09 at 14:38.","DSpace SAF Submission Ingestion Package generated from Vireo submission #22290 on 2025-10-19 at 19:17:16","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."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/129646"],"dc:language":["en","eng"],"dc:rights":["© 2023 IEEE. Reprinted, with permission, from Kevin G. Gim et al., ”What if a Vacuum Robot has an Arm?,” 2023 20th International Conference on Ubiquitous Robots (UR), 2023. © 2023 IEEE. Reprinted, with permission, from Kazuki Shin et al., ”Exploring the Capabilities of a General-Purpose Robotic Arm in Chess Gameplay,” 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), October 2023."],"dc:subject":["Robotics","Automation","Perception"],"dc:title":["Enhanced household automation through robotic manipulation"],"dc:type":["text"],"thesis:degree_discipline":["Electrical & Computer Engr"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:05Z"}