Team O2AS at the World Robot Summit 2018: An Approach to Robotic Kitting and Assembly Tasks using General Purpose Grippers and Tools
| Autor: | Kensuke Harada, Kaidi Nie, Weiwei Wan, Felix von Drigalski, Ixchel G. Ramirez-Alpizar, Damien Petit, Toshio Ueshiba, Yoshihisa Ijiri, Yoshiya Shibata, Yukiyasu Domae, Joshua C. Triyonoputro, Ryuichi Takase, Taku Yoshioka, Chisato Nakashima, Yoshinori Konishi |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Computer science Computer Vision and Pattern Recognition (cs.CV) Computer Science - Computer Vision and Pattern Recognition 02 engineering and technology Task (project management) law.invention Computer Science - Robotics 020901 industrial engineering & automation Human–computer interaction law 0202 electrical engineering electronic engineering information engineering geography Summit geography.geographical_feature_category Point (typography) GRASP Robot end effector Computer Science Applications Human-Computer Interaction Hardware and Architecture Control and Systems Engineering Grippers Robot 020201 artificial intelligence & image processing Robotics (cs.RO) Software |
| DOI: | 10.48550/arxiv.2003.02427 |
| Popis: | We propose a versatile robotic system for kitting and assembly tasks which uses no jigs or commercial tool changers. Instead of specialized end effectors, it uses its two-finger grippers to grasp and hold tools to perform subtasks such as screwing and suctioning. A third gripper is used as a precision picking and centering tool, and uses in-built passive compliance to compensate for small position errors and uncertainty. A novel grasp point detection for bin picking is described for the kitting task, using a single depth map. Using the proposed system we competed in the Assembly Challenge of the Industrial Robotics Category of the World Robot Challenge at the World Robot Summit 2018, obtaining 4th place and the SICE award for lean design and versatile tool use. We show the effectiveness of our approach through experiments performed during the competition. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|