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IkeaBot -- Automated Multi-Robot Furniture Assembly

The video showcases a system for autonomous assembly of IKEA furniture. The primary contributions are:

  • End-to-end system plans from CAD files of parts and distributes manipulation actions among a team of robots.
  • Geometric reasoning engine generates a blueprint without needing explicit instructions. Inference is based on
    • configuration of holes in the parts (used, unused, blocked by another part)
    • collision checker
    • part alignment
  • Custom, object-oriented symbolic planning language
    • Planning problem text is automatically generated from the blueprint.
    • Text compiles into PDDL, thus leveraging existing solvers of symbolic planning problems.
    • Supports group symmetry for describing interchangeable parts, such as four identical table legs.
  • Custom, modular tool system extends the capabilities of a stock mobile manipulator.
    • Screwing tool for use with IKEA Lack table assembly.
    • Tool can be docked when not in use, thus allowing robot to maintain use of its factory-installed hand.


  • 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]