Within Reach

Within Reach

An assistive robotic system for people with limited upper-body mobility. It watches a workspace through a camera, identifies a requested object, figures out a safe placement inside the user's personal reach zone, and uses an SO-101 robotic arm to bring the object closer — then checks its own work and corrects the placement if needed.

A user says something like "Bring my medicine to my left side." The system finds the object and any obstacle in the scene from the camera feed alone, computes the user's accessible zone based on their stated mobility constraints, plans a path around the obstacle, and moves the object there with the arm. A second camera check confirms the object actually landed within reach; if not, the robot re-grasps and nudges it into place.

It's built as four clean modules — perception (color segmentation, shape/bounding-box detection, pixel-to-table coordinates), reasoning (a planner that decides which object, which zone, which path, and whether a correction is needed), action (real physics-based pick-and-place in simulation, not animation), and verification (the closed-loop check-and-correct step).