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The introduction of assistive construction robots can significantly alleviate physical demands on construction workers while enhancing both the productivity and safety of construction projects. Leveraging a Building Information Model (BIM)…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills,…
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…
Box folding represents a crucial challenge for automated packaging systems. This work bridges the gap between existing methods for folding sequence extraction and approaches focused on the adaptability of automated systems to specific box…
Although digital fabrication processes at the desktop scale have become proficient and prolific, systems aimed at producing larger-scale structures are still typically complex, expensive, and unreliable. In this work, we present an approach…
Geometrically complex masonry structures (e.g., arches, domes, vaults) are traditionally built with expensive scaffolding or falsework to provide stability during construction. The process of building such structures can potentially be…
Smart factories that allow flexible production of highly individualized goods require flexible robots, usable in efficient assembly lines. Compliant robots can work safely in shared environments with domain experts, who have to program such…
In this paper we present algorithms for collective construction systems in which a large number of autonomous mobile robots trans- port modular building elements to construct a desired structure. We focus on building block structures…
Kitting refers to the task of preparing and grouping necessary parts and tools (or "kits") for assembly in a manufacturing environment. Automating this process simplifies the assembly task for human workers and improves efficiency. Existing…
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular,…
The Industrial Assembly Challenge at the World Robot Summit was held in 2018 to showcase the state-of-the-art of autonomous manufacturing systems. The challenge included various tasks, such as bin picking, kitting, and assembly of standard…
Research on human-robot collaboration or human-robot teaming, has focused predominantly on understanding and enabling collaboration between a single robot and a single human. Extending human-robot collaboration research beyond the dyad,…
We present a new version of our previously proposed algorithm enabling a swarm of robots to construct a desired shape from objects in the plane. We also describe a hardware realization for this system which makes use of simple and readily…
Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost, with robotic systems playing a crucial…
Autonomous assembly has been a desired functionality of many intelligent robot systems. We study a new challenging assembly task, designing and constructing a bridge without a blueprint. In this task, the robot needs to first design a…
Endowing robots with tool design abilities is critical for enabling them to solve complex manipulation tasks that would otherwise be intractable. While recent generative frameworks can automatically synthesize task settings, such as 3D…