Autonomous Robotic Assembly: From Part Singulation to Precise Assembly

• Published in: arXiv.org
• Main Authors: Ota, Kei, Jha, Devesh K, Jain, Siddarth, Yerazunis, Bill, Corcodel, Radu, Shukla, Yash, Bronars, Antonia, Romeres, Diego
• Format: Paper
• Language: English
• Published: Ithaca Cornell University Library, arXiv.org 11.06.2024
• Subjects: Assembly; Closed loops; Gearboxes; Grasping; Robots; Systems design; Working conditions

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 challenges, the current generation of assembly systems is built w...