Related papers: Coordinating robotized construction using advanced…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory…
Robotics simulation plays an important role in the design, development, and verification and validation of robotic systems. Recent studies have shown that simulation may be used as a cheaper, safer, and more reliable alternative to manual,…
Fixation of structural parts to concrete is a repetitive, heavy-duty, and time-consuming task that requires automation due to the lack of skilled construction workers. Previously developed automation techniques have not achieved the…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
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…
This work addresses the Assembly Line Rebalancing Problem in manual assembly systems where multiple workers operate in parallel within the same station - an industrially relevant scenario that remains insufficiently explored in the…
Automation of logistic processes is essential to improve productivity and reduce costs. In this context, intelligent warehouses are becoming a key to logistic systems thanks to their ability of optimizing transportation tasks and,…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…
Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…
Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…
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…
Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…
We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…
Since cobots (collaborative robots) are increasingly being introduced in industrial environments, being aware of their potential positive and negative impacts on human collaborators is essential. This study guides occupational health…