We aim to design a robot with which a user can have a playful interaction in a domestic setting. Specifically, we focus on the activity of playing fetch: a pet picks up an object a human throws away. The robot should continuously and autonomously search for a ball in a stable environment, pick it up, throw it away and repeat this process. This allows for a setting in which the bot is able to play both with itself as with a human. We call this robot: FetchBot.