IkeaBot: An autonomous multi-robot coordinated furniture assembly system
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Rus_Ikeabot.pdf
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2 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Knepper, Ross A.
Layton, Todd
Romanishin, John William
Rus, Daniela L.
Date Issued
May 2013
Journal
Proceedings of the 2013 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Knepper, Ross A., Todd Layton, John Romanishin, and Daniela Rus. “IkeaBot: An Autonomous Multi-Robot Coordinated Furniture Assembly System.” 2013 IEEE International Conference on Robotics and Automation (May 2013).
Version
Author's final manuscript
Abstract
We present an automated assembly system that directs the actions of a team of heterogeneous robots in the completion of an assembly task. From an initial user-supplied geometric specification, the system applies reasoning about the geometry of individual parts in order to deduce how they fit together. The task is then automatically transformed to a symbolic description of the assembly-a sort of blueprint. A symbolic planner 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. The latter are equipped with specialized tools to aid in the assembly process. Additionally, the robots engage in coordinated co-manipulation of large, heavy assemblies. We provide details of an example furniture kit assembled by the system.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. School of Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2013.6630673
