Multi-scale assembly with robot teams
© The Author(s) 2015. In this paper we present algorithms and experiments for multi-scale assembly of complex structures by multi-robot teams. We also focus on tasks where successful completion requires multiple types of assembly operations with a range of precision requirements. We develop a hierar...
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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SAGE Publications
2021
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| Online Access: | https://hdl.handle.net/1721.1/134289 |
| _version_ | 1826193185895874560 |
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| author | Dogar, Mehmet Knepper, Ross A Spielberg, Andrew Choi, Changhyun Christensen, Henrik I Rus, Daniela |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Dogar, Mehmet Knepper, Ross A Spielberg, Andrew Choi, Changhyun Christensen, Henrik I Rus, Daniela |
| author_sort | Dogar, Mehmet |
| collection | MIT |
| description | © The Author(s) 2015. In this paper we present algorithms and experiments for multi-scale assembly of complex structures by multi-robot teams. We also focus on tasks where successful completion requires multiple types of assembly operations with a range of precision requirements. We develop a hierarchical planning approach to multi-scale perception in support of multi-scale manipulation, in which the resolution of the perception operation is matched with the required resolution for the manipulation operation. We demonstrate these techniques in the context of a multi-step task where robots assemble large box-like objects, inspired by the assembly of an airplane wing. The robots begin by transporting a wing panel, a coarse manipulation operation that requires a wide field of view, and gradually shifts to a narrower field of view but with more accurate sensors for part alignment and fastener insertion. Within this framework we also provide for failure detection and recovery: upon losing track of a feature, the robots retract to using wider field of view systems to re-localize. Finally, we contribute collaborative manipulation algorithms for assembling complex large objects. First, the team of robots coordinates to transport large assembly parts which are too heavy for a single robot to carry. Second, the fasteners and parts are co-localized for robust insertion and fastening. We implement these ideas using four KUKA youBot robots and present experiments where our robots successfully complete all 80 of the attempted fastener insertion operations. |
| first_indexed | 2024-09-23T09:35:23Z |
| format | Article |
| id | mit-1721.1/134289 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T09:35:23Z |
| publishDate | 2021 |
| publisher | SAGE Publications |
| record_format | dspace |
| spelling | mit-1721.1/1342892023-09-07T20:31:01Z Multi-scale assembly with robot teams Dogar, Mehmet Knepper, Ross A Spielberg, Andrew Choi, Changhyun Christensen, Henrik I Rus, Daniela Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory © The Author(s) 2015. In this paper we present algorithms and experiments for multi-scale assembly of complex structures by multi-robot teams. We also focus on tasks where successful completion requires multiple types of assembly operations with a range of precision requirements. We develop a hierarchical planning approach to multi-scale perception in support of multi-scale manipulation, in which the resolution of the perception operation is matched with the required resolution for the manipulation operation. We demonstrate these techniques in the context of a multi-step task where robots assemble large box-like objects, inspired by the assembly of an airplane wing. The robots begin by transporting a wing panel, a coarse manipulation operation that requires a wide field of view, and gradually shifts to a narrower field of view but with more accurate sensors for part alignment and fastener insertion. Within this framework we also provide for failure detection and recovery: upon losing track of a feature, the robots retract to using wider field of view systems to re-localize. Finally, we contribute collaborative manipulation algorithms for assembling complex large objects. First, the team of robots coordinates to transport large assembly parts which are too heavy for a single robot to carry. Second, the fasteners and parts are co-localized for robust insertion and fastening. We implement these ideas using four KUKA youBot robots and present experiments where our robots successfully complete all 80 of the attempted fastener insertion operations. 2021-10-27T20:04:20Z 2021-10-27T20:04:20Z 2015 2019-07-17T13:05:50Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/134289 Dogar, M., et al. "Multi-Scale Assembly with Robot Teams." International Journal of Robotics Research 34 13 (2015): 1645-59. en 10.1177/0278364915586606 International Journal of Robotics Research Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf SAGE Publications Other repository |
| spellingShingle | Dogar, Mehmet Knepper, Ross A Spielberg, Andrew Choi, Changhyun Christensen, Henrik I Rus, Daniela Multi-scale assembly with robot teams |
| title | Multi-scale assembly with robot teams |
| title_full | Multi-scale assembly with robot teams |
| title_fullStr | Multi-scale assembly with robot teams |
| title_full_unstemmed | Multi-scale assembly with robot teams |
| title_short | Multi-scale assembly with robot teams |
| title_sort | multi scale assembly with robot teams |
| url | https://hdl.handle.net/1721.1/134289 |
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