IkeaBot: An autonomous multi-robot coordinated furniture assembly system
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 togethe...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2014
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| Online Access: | http://hdl.handle.net/1721.1/90593 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0001-6742-7592 |
| _version_ | 1826215000610439168 |
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| author | Knepper, Ross A. Layton, Todd Romanishin, John William Rus, Daniela L. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Knepper, Ross A. Layton, Todd Romanishin, John William Rus, Daniela L. |
| author_sort | Knepper, Ross A. |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T16:15:14Z |
| format | Article |
| id | mit-1721.1/90593 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:15:14Z |
| publishDate | 2014 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/905932022-09-29T19:06:27Z IkeaBot: An autonomous multi-robot coordinated furniture assembly system Knepper, Ross A. Layton, Todd Romanishin, John William Rus, Daniela L. 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 Knepper, Ross A. Layton, Todd Romanishin, John William Rus, Daniela L. 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. Boeing Company 2014-10-07T18:30:12Z 2014-10-07T18:30:12Z 2013-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4673-5643-5 978-1-4673-5641-1 1050-4729 http://hdl.handle.net/1721.1/90593 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). https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0001-6742-7592 en_US http://dx.doi.org/10.1109/ICRA.2013.6630673 Proceedings of the 2013 IEEE International Conference on Robotics and Automation Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Knepper, Ross A. Layton, Todd Romanishin, John William Rus, Daniela L. IkeaBot: An autonomous multi-robot coordinated furniture assembly system |
| title | IkeaBot: An autonomous multi-robot coordinated furniture assembly system |
| title_full | IkeaBot: An autonomous multi-robot coordinated furniture assembly system |
| title_fullStr | IkeaBot: An autonomous multi-robot coordinated furniture assembly system |
| title_full_unstemmed | IkeaBot: An autonomous multi-robot coordinated furniture assembly system |
| title_short | IkeaBot: An autonomous multi-robot coordinated furniture assembly system |
| title_sort | ikeabot an autonomous multi robot coordinated furniture assembly system |
| url | http://hdl.handle.net/1721.1/90593 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0001-6742-7592 |
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