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]