What if a Vacuum Robot has an Arm?

In this paper, we present a modular add-on system that can be seamlessly integrated with an off-the-shelf vacuum robot to expand its capabilities beyond vacuuming. Employing the add-on system enables seamless integration of a manipulator, which can be effortlessly attached and detached with minimal alterations to the vacuum robot, without compromising its original functionality. Furthermore, the add-on system allows for the incorporation of a potent manipulator capable of performing household tasks, demonstrating its potential for practical applications. The system augments the vacuum robot's capability by adding a 6-DOF manipulator, an RGB-D camera for superior perception, and a LiDAR sensor for enhanced navigation. This allows users to upgrade their existing vacuum robots, enabling them to handle a more extensive array of household tasks. We showcase the system's ability to navigate to specific locations on a map, open doors, grasp objects, and place them in designated locations through a basic demonstration, highlighting its improved perception and manipulation abilities. Our approach presents a practical solution for homeowners seeking an affordable and versatile household cleaning robot with extended functionality.