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IKEA Furniture Assembly

Broadly defined, the goal of this project is to autonomously assemble IKEA furniture using a team of robots. Much of our work takes place on our four KUKA youBots. In the long term, the vision is for the robot(s) to open the box, remove the furniture, and follow the directions or otherwise plan a series of steps resulting in the complete assembly of the furniture kit. Major robotics challenges include knowledge representation and understanding, planning with physical and geometric constraints, understanding function from form, dexterous control of parts during attachment operations, use of tools, multi-robot coordination, and interaction with humans. The current implementation of the system is IkeaBot.

Although IKEA furniture is most often assembled in a home setting, many of these skills apply equally well to problems in manufacturing automation. We are therefore exploring applications of these technologies in factory settings as well.

Videos

Publications

  • Ross A. Knepper, Todd Layton, John Romanishin, and Daniela Rus. “IkeaBot: An Autonomous Multi-Robot Coordinated Furniture Assembly System”. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany, May 2013. Best Automation Paper Finalist. [PDF]
  • Ross A. Knepper, Stefanie Tellex, Adrian Li, Nicholas Roy, and Daniela Rus. “Single Assembly Robot in Search of Human Partner: Versatile Grounded Language Generation”. Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI). Tokyo, Japan, March 2013.