Multi-scale assembly with robot teams

@article{Dogar2015MultiscaleAW,
  title={Multi-scale assembly with robot teams},
  author={Mehmet Remzi Dogar and Ross A. Knepper and Andrew Spielberg and Changhyun Choi and Henrik I. Christensen and Daniela Rus},
  journal={The International Journal of Robotics Research},
  year={2015},
  volume={34},
  pages={1645 - 1659}
}
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… 

Figures and Tables from this paper

Design of a Self-Assembly System of Three-dimensional Structures using Autonomous Construction Blocks

TLDR
This paper proposes an architecture approach for automated self-assembly of 3D structures by a team of actuated parts that enables the autonomous assembly of structures into arbitrary shapes and presents the results from simulations using autonomous quadrotors as the building parts, assembled in bricklike patterns.

Object-Oriented Modeling and Coordination of Mobile Robots

TLDR
The main contribution of this work is an approach that allows the object-oriented modeling and coordination of mobile robots, supporting the cooperation of mobile manipulators, and facilitates an easy way of programming and provides means to handle kinematic restrictions or redundancy.

Multi-robot grasp planning for sequential assembly operations

TLDR
This paper presents an algorithm which, through the assumption of feasible regrasps, divides the CSP into independent smaller problems that can be solved exponentially faster and presents a physical robot system which uses the output of the planner to grasp and bring parts together in assembly configurations.

Experimental studies of robotic assembly of precision parts

At present, robotization of assembly processes is achieved through the use of industrial robots with high positioning accuracy in conjunction with tactile means of adaptation to the conditions of

Autonomous assembly of structures using pinning control and formation algorithms

TLDR
This paper shows how the network-based approach for autonomous assembly must communicate with the robots in a system architecture diagram, and shows a simulation trial of the assembly of a pyramidal structure with nine robots.

FIBERBOTS: Design and Digital Fabrication of Tubular Structures Using Robot Swarms

TLDR
This paper describes an alternative multi-robot system built from the ground up to enable collaborative and site-specific construction that simplifies design workflows while simultaneously maintaining structural, environmental, and robot dynamic constraints.

Multi-robot Collaborative Assembly Research for 3C Manufacturing-Taking Server Motherboard Assembly Task as an Example

In the multi-robot collaborative manufacturing, such as the server motherboard assembly task in the 3C industry, the characteristic of the operating process and the uncertainty of the assembly

Algorithmic Approaches to Reconfigurable Assembly Systems

TLDR
This paper addresses the algorithmic problems in scaling reconfigurable space structures built through robotic construction, where reconfiguration is defined as the problem of transforming an initial structure into a different goal configuration.

An autonomous multi-robot system for stigmergy-based construction

TLDR
This thesis proposes a completely decentralized control strategy for a multi-robot ACS that consists of two components, a building material and autonomous robots, and demonstrates how this control strategy can be used to coordinate the autonomous construction of three-dimensional structures.

References

SHOWING 1-10 OF 59 REFERENCES

Towards Coordinated Precision Assembly with Robot Teams

TLDR
A system in which a flexible team of robots coordinates to assemble large, complex, and diverse structures autonomously, using a hierarchical perception architecture, and develops a new tool which is capable of co-localizing holes and fasteners for robust insertion and fastening.

RESULTS IN SLIDING AUTONOMY FOR MULTI-ROBOT SPATIAL ASSEMBLY

TLDR
By introducing two modes of sliding autonomy, the architecture is able to achieve the high reliability of a teleoperated system combined with the high efficiency of autonomous operation, and the incurred mental demand of the operator is directly proportional to the increase in system efficiency.

Analysis of autonomous cooperative assembly using coordination schemes by heterogeneous robots using a control basis approach

TLDR
The results of the study affirm the use of heterogeneous robots to perform hard-to-do assemblies and also encourage humans to function as holder’s when working in concert with a robot assistant for insertion tasks.

TERMES: An Autonomous Robotic System for Three-Dimensional Collective Construction

TLDR
This work describes and evaluates the robot’s key capabilities of climbing, navigation, and manipulation, and demonstrates its ability to perform complex tasks that combine these capabilities by having it autonomously build a ten-block staircase taller than itself.

Coordination and decentralized cooperation of multiple mobile manipulators

Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. This article discusses the ongoing effort at Stanford

Motion planning of multiple mobile robots for Cooperative manipulation and transportation

TLDR
A motion-planning method of multiple mobile robots for cooperative transportation of a large object in a three-dimensional environment, which computed the conditions in which the object becomes unstable during manipulation and generated each robot's motion.

Construction with quadrotor teams

TLDR
It is shown that any SCS can be built using only the feasible assembly modes for individual structural elements and simulation and experimental results for a team of quadrotors performing automated assembly are presented.

Distributed assembly with online workload balancing and visual error detection and correction

TLDR
The result is a cooperative assembly framework where assembly robots can balance their individual workloads online by trading assembly components while scanning robots detect and reassign missing assembly components online.

Robust robotic assembly through contingencies, plan repair and re-planning

  • F. HegerSanjiv Singh
  • Computer Science
    2010 IEEE International Conference on Robotics and Automation
  • 2010
TLDR
This work shows results where simple planning strategies paired with exception-handling are able to achieve the same outcomes as more elaborate methods would, without the computational cost associated with more sophisticated planners.

Cooperative transport by multiple mobile robots in unknown static environments associated with real-time task assignment

TLDR
The authors propose the following approach: the unit of task (task instance) is considered as the job that should be done in a short time by one robot, and task instances are dynamically generated using task templates based on the environmental information.
...