Team O2AS at the World Robot Summit 2018: An Approach to Robotic Kitting and Assembly Tasks using General Purpose Grippers and Tools

Felix von Drigalski, Chisato Nakashima, Yoshiya Shibata, Yoshinori Konishi, Joshua C. Triyonoputro +10 more
3/5/2020
cs.ROcs.CV

Official code: o2as/ur-o2as (47 stars, MIT, last commit 2021-06-22).

Abstract

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.

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Code Implementations(1)

o2as/ur-o2asOfficial100%
MIT

The code used at the WRC/WRS2018 by Team O2AS (excluding proprietary vision modules)

479C, C++Jul 2, 20195 years agoMIT

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Cite this paper

@article{drigalski2020team,
  title  = {Team O2AS at the World Robot Summit 2018: An Approach to Robotic Kitting and Assembly Tasks using General Purpose Grippers and Tools},
  author = {Felix von Drigalski and Chisato Nakashima and Yoshiya Shibata and Yoshinori Konishi and Joshua C. Triyonoputro and Kaidi Nie and Damien Petit and Toshio Ueshiba and Ryuichi Takase and Yukiyasu Domae and Taku Yoshioka and Yoshihisa Ijiri and Ixchel G. Ramirez-Alpizar and Weiwei Wan and Kensuke Harada},
  year   = {2020},
  eprint = {2003.02427},
  archivePrefix = {arXiv},
  url    = {https://arxiv.org/abs/2003.02427}
}

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