| The automation of sorting tasks is often performed by dedicated machines that are built on closed platforms for small sets of distinct objects. The recent development of open research robotics platforms from companies such as Willow Garage and Rethink Robotics provides an opportunity to examine how a multifunctional robot could perform such a task for larger sets of objects. In this thesis, I examine the ability of the Baxter Research Robot, from Rethink Robotics, to sort LEGO NXT kits, which contain 431 pieces comprising 93 distinct types. This project verifies the applicability of such a generic robotic platform to sorting tasks, sorting accuracies for most of the kit were upwards of 90%, and explores the decoupling of high-level control structures from the set of objects being sorted. This project specifically works towards automating a relevant and time-consuming task currently undertaken at Tufts where students and staff spend upwards of 500 hours a year sorting NXT kits. |
