Lessons learned developing an assembly system for wrs 2020 assembly challenge

A Naik, P Parashar, J Hu, HI Christensen - arXiv preprint arXiv:2103.15236, 2021 - arxiv.org
arXiv preprint arXiv:2103.15236, 2021arxiv.org
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 …
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.
arxiv.org
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