Autonomous Assembly

From DRLWiki<span style="display: none;">[[Image:Choi16icra.pdf]][[Image:Dogar2015multirobot.pdf]]</span>

Revision as of 16:03, 2 June 2016 by Cchoi (Talk | contribs)
(diff) ← Older revision | Latest revision (diff) | Newer revision → (diff)
Jump to: navigation, search

Contents for This Page

Project Approach

We present an automated assembly system that directs the actions of a team of heterogeneous robots in the completion of an assembly task. The task is specified as a geometric description of the assembly—a blueprint. From this specification, the system applies reasoning about the geometry of individual parts to deduce how they fit together. A symbolic planner then generates an assembly sequence that can be executed by a team of collaborating robots. Each robot fulfills one of two roles: parts delivery or parts assembly. In addition, robots may be equipped with specialized tools to aid in the process. We provide details of several example furniture kits completed by the assembly system.


File:.png
text.

Videos

People

Mehmet Dogar

Changhyun Choi

Andrew Spielberg

John Romanishin

Stuart Baker

Daniela Rus

References

[1]

Changhyun Choi, Daniela Rus - Probabilistic Visual Verification for Robotic Assembly Manipulation
IEEE International Conference on Robotics and Automation (ICRA) , Stockholm, Sweden, May 2016
Pdf Bibtex
Author : Changhyun Choi, Daniela Rus
Title : Probabilistic Visual Verification for Robotic Assembly Manipulation
In : IEEE International Conference on Robotics and Automation (ICRA) -
Address : Stockholm, Sweden
Date : May 2016
[2]Mehmet Dogar, Ross A. Knepper, Andrew Spielberg, Changhyun Choi, Henrik Christensen, Daniela Rus - Multi-Scale Assembly with Robot Teams
International Journal on Robotics Research Accepted ,2015
Bibtex
Author : Mehmet Dogar, Ross A. Knepper, Andrew Spielberg, Changhyun Choi, Henrik Christensen, Daniela Rus
Title : Multi-Scale Assembly with Robot Teams
In : International Journal on Robotics Research Accepted -
Address :
Date : 2015
[3]Mehmet Dogar, Andrew Spielberg, Stuart Baker, Daniela Rus - Multi-Robot Grasp Planning for Sequential Assembly Operations
IEEE International Conference on Robotics and Automation (ICRA) , Seattle, WA, May 2015
Pdf Bibtex
Author : Mehmet Dogar, Andrew Spielberg, Stuart Baker, Daniela Rus
Title : Multi-Robot Grasp Planning for Sequential Assembly Operations
In : IEEE International Conference on Robotics and Automation (ICRA) -
Address : Seattle, WA
Date : May 2015
[4] Ross A. Knepper, Mehmet Dogar, Andrew Spielberg, Changhyun Choi, Henrik I. Christensen, Daniela Rus - Towards Coordinated Precision Assembly with Robot Teams
Proceedings of the International Symposium of Experimental Robotics , Marrakesh and Essaouira, Morocco, 6 2014
Bibtex
Author : Ross A. Knepper, Mehmet Dogar, Andrew Spielberg, Changhyun Choi, Henrik I. Christensen, Daniela Rus
Title : Towards Coordinated Precision Assembly with Robot Teams
In : Proceedings of the International Symposium of Experimental Robotics -
Address : Marrakesh and Essaouira, Morocco
Date : 6 2014
[5] Stefanie Tellex, Ross A. Knepper, Adrian Li, and Thomas M. Howard, Nicholas Roy, Daniela Rus - Asking for Help Using Inverse Semantics
Proceedings of the Robotics Science and Systems Conference , Berkeley, USA, 7 2014
Bibtex
Author : Stefanie Tellex, Ross A. Knepper, Adrian Li, and Thomas M. Howard, Nicholas Roy, Daniela Rus
Title : Asking for Help Using Inverse Semantics
In : Proceedings of the Robotics Science and Systems Conference -
Address : Berkeley, USA
Date : 7 2014
[6] Jue Wang, Fadel Adib, Ross A. Knepper, Dina Katabi, Daniela Rus - {RF-Compass}: Robot Object Manipulation using {RFIDs}
MobiCom: International Conference on Mobile Computing and Networking , Miami, USA, 10 2013
Bibtex
Author : Jue Wang, Fadel Adib, Ross A. Knepper, Dina Katabi, Daniela Rus
Title : {RF-Compass}: Robot Object Manipulation using {RFIDs}
In : MobiCom: International Conference on Mobile Computing and Networking -
Address : Miami, USA
Date : 10 2013

[7] Ross A. Knepper, Todd Layton, John Romanishin, Daniela Rus - IkeaBot: An Autonomous Multi-Robot Coordinated Furniture

Assembly System
Proceedings of the IEEE International Conference on Robotics and Automation , Karlsruhe, Germany, 5 2013
Bibtex
Author : Ross A. Knepper, Todd Layton, John Romanishin, Daniela Rus
Title : IkeaBot: An Autonomous Multi-Robot Coordinated Furniture Assembly System
In : Proceedings of the IEEE International Conference on Robotics and Automation -
Address : Karlsruhe, Germany
Date : 5 2013

[8] Ross A. Knepper, Daniela Rus - On the Completeness of Ensembles of Motion Planners for

Decentralized Planning
Proceedings of the IEEE International Conference on Robotics and Automation , Karlsruhe, Germany, 5 2013
Bibtex
Author : Ross A. Knepper, Daniela Rus
Title : On the Completeness of Ensembles of Motion Planners for Decentralized Planning
In : Proceedings of the IEEE International Conference on Robotics and Automation -
Address : Karlsruhe, Germany
Date : 5 2013

[9] Ross A. Knepper, Stefanie Tellex, Adrian Li, Nicholas Roy, Daniela Rus - Single Assembly Robot in Search of Human Partner: Versatile Grounded Language Generation

Late Breaking Report at the ACM/IEEE International Conference on

Human-Robot Interaction , Tokyo, Japan, 3 2013
Bibtex
Author : Ross A. Knepper, Stefanie Tellex, Adrian Li, Nicholas Roy, Daniela Rus
Title : Single Assembly Robot in Search of Human Partner: Versatile Grounded Language Generation
In : Late Breaking Report at the ACM/IEEE International Conference on Human-Robot Interaction -
Address : Tokyo, Japan
Date : 3 2013
[10] Ross A. Knepper, Daniela Rus - Pedestrian-Inspired Sampling-Based Multi-Robot Collision Avoidance
Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication , Paris, France, 9 2012
Bibtex
Author : Ross A. Knepper, Daniela Rus
Title : Pedestrian-Inspired Sampling-Based Multi-Robot Collision Avoidance
In : Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication -
Address : Paris, France
Date : 9 2012
Personal tools