Lessons Learned Developing an Assembly System for WRS 2020 Assembly Challenge

Aayush Naik; Priyam Parashar; Jiaming Hu; Henrik I. Christensen

Lessons Learned Developing an Assembly System for WRS 2020 Assembly Challenge

Robotics 2021-03-30 v1

Authors: Aayush Naik , Priyam Parashar , Jiaming Hu , Henrik I. Christensen

Abstract

The World Robot Summit (WRS) 2020 Assembly Challenge is designed to allow teams to demonstrate how one can build flexible, robust systems for assembly of machined objects. We present our approach to assembly based on integration of machine vision, robust planning and execution using behavior trees and a hierarchy of recovery strategies to ensure robust operation. Our system was selected for the WRS 2020 Assembly Challenge finals based on robust performance in the qualifying rounds. We present the systems approach adopted for the challenge.

Keywords

modular robotics robotics planetary rover autonomy

Cite

@article{arxiv.2103.15236,
  title  = {Lessons Learned Developing an Assembly System for WRS 2020 Assembly Challenge},
  author = {Aayush Naik and Priyam Parashar and Jiaming Hu and Henrik I. Christensen},
  journal= {arXiv preprint arXiv:2103.15236},
  year   = {2021}
}

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8 pages

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