Towards Coordinated Precision Assembly with Robot Teams
© Springer International Publishing Switzerland 2016. We present a system in which a flexible team of robots coordinates to assemble large, complex, and diverse structures autonomously. Our system operates across a wide range of spatial scales and tolerances, using a hierarchical perception architec...
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Springer International Publishing
2021
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| Online Access: | https://hdl.handle.net/1721.1/137210 |
| _version_ | 1826207196151545856 |
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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 | © Springer International Publishing Switzerland 2016. We present a system in which a flexible team of robots coordinates to assemble large, complex, and diverse structures autonomously. Our system operates across a wide range of spatial scales and tolerances, using a hierarchical perception architecture. For the successful execution of very precise assembly operations under initial uncertainty, our system starts with high-field of view but low accuracy sensors, and gradually uses low field-of-view but high accuracy sensors. Our system also uses a failure detection and recovery system, integrated with this hierarchical perception architecture: upon losing track of a feature, our system retracts to using high-field of view systems to re-localize. Additionally, we contribute manipulation skills and tools necessary to assemble large structures with high precision. First, the team of robots coordinates to transport large assembly parts which are too heavy for a single robot to carry. Second, we develop a new tool which is capable of co-localizing holes and fasteners for robust insertion and fastening. We present real robot experiments where we measure the contribution of the hierarchical perception and failure recovery approach to the robustness of our system. We also present an extensive set of experiments where our robots successfully insert all 80 of the attempted fastener insertion operations. |
| first_indexed | 2024-09-23T13:45:51Z |
| format | Article |
| id | mit-1721.1/137210 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T13:45:51Z |
| publishDate | 2021 |
| publisher | Springer International Publishing |
| record_format | dspace |
| spelling | mit-1721.1/1372102023-02-03T20:46:41Z Towards Coordinated Precision 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 © Springer International Publishing Switzerland 2016. We present a system in which a flexible team of robots coordinates to assemble large, complex, and diverse structures autonomously. Our system operates across a wide range of spatial scales and tolerances, using a hierarchical perception architecture. For the successful execution of very precise assembly operations under initial uncertainty, our system starts with high-field of view but low accuracy sensors, and gradually uses low field-of-view but high accuracy sensors. Our system also uses a failure detection and recovery system, integrated with this hierarchical perception architecture: upon losing track of a feature, our system retracts to using high-field of view systems to re-localize. Additionally, we contribute manipulation skills and tools necessary to assemble large structures with high precision. First, the team of robots coordinates to transport large assembly parts which are too heavy for a single robot to carry. Second, we develop a new tool which is capable of co-localizing holes and fasteners for robust insertion and fastening. We present real robot experiments where we measure the contribution of the hierarchical perception and failure recovery approach to the robustness of our system. We also present an extensive set of experiments where our robots successfully insert all 80 of the attempted fastener insertion operations. 2021-11-03T14:51:47Z 2021-11-03T14:51:47Z 2015-11-13 2019-07-17T13:16:38Z Article http://purl.org/eprint/type/ConferencePaper 1610-7438 1610-742X https://hdl.handle.net/1721.1/137210 Dogar, Mehmet, Knepper, Ross A., Spielberg, Andrew, Choi, Changhyun, Christensen, Henrik I. et al. 2015. "Towards Coordinated Precision Assembly with Robot Teams." en 10.1007/978-3-319-23778-7_43 Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Springer International Publishing website |
| spellingShingle | Dogar, Mehmet Knepper, Ross A. Spielberg, Andrew Choi, Changhyun Christensen, Henrik I. Rus, Daniela Towards Coordinated Precision Assembly with Robot Teams |
| title | Towards Coordinated Precision Assembly with Robot Teams |
| title_full | Towards Coordinated Precision Assembly with Robot Teams |
| title_fullStr | Towards Coordinated Precision Assembly with Robot Teams |
| title_full_unstemmed | Towards Coordinated Precision Assembly with Robot Teams |
| title_short | Towards Coordinated Precision Assembly with Robot Teams |
| title_sort | towards coordinated precision assembly with robot teams |
| url | https://hdl.handle.net/1721.1/137210 |
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