Dogar, M, Knepper, RA, Spielberg, A et al. (3 more authors) (2016) Towards coordinated precision assembly with robot teams. In: Hsieh, MA, Khatib, O and Kumar, V, (eds.) Experimental Robotics. 14th International Symposium on Experimental Robotics, 15-18 Jun 2014, Marrakech and Essaouira, Morocco. Springer Tracts in Advanced Robotics (109). Springer International Publishing , pp. 655-669. ISBN 978-3-319-23777-0
Abstract
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.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Keywords: | Robotic assembly, Robotic manufacturing, Robot teams, Distributed control, Precision assembly, Perception |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) > Artificial Intelligence & Biological Systems (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 11 May 2016 15:16 |
Last Modified: | 07 Jun 2016 18:25 |
Published Version: | http://dx.doi.org/10.1007/978-3-319-23778-7_43 |
Status: | Published |
Publisher: | Springer International Publishing |
Series Name: | Springer Tracts in Advanced Robotics |
Identification Number: | 10.1007/978-3-319-23778-7_43 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:95170 |