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Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution

Nottensteiner, Korbinian and Sachtler, Arne and Albu-Schäffer, Alin (2021) Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution. Journal of Intelligent & Robotic Systems, 101 (49). Springer. doi: 10.1007/s10846-020-01303-z. ISSN 0921-0296.

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Official URL: https://link.springer.com/article/10.1007/s10846-020-01303-z


Robotic assembly tasks are typically implemented in static settings in which parts are kept at fixed locations by making use of part holders. Very few works deal with the problem of moving parts in industrial assembly applications. However, having autonomous robots that are able to execute assembly tasks in dynamic environments could lead to more flexible facilities with reduced implementation efforts for individual products. In this paper, we present a general approach towards autonomous robotic assembly that combines visual and intrinsic tactile sensing to continuously track parts within a single Bayesian framework. Based on this, it is possible to implement object-centric assembly skills that are guided by the estimated poses of the parts, including cases where occlusions block the vision system. In particular, we investigate the application of this approach for peg-in-hole assembly. A tilt-and-align strategy is implemented using a Cartesian impedance controller, and combined with an adaptive path executor. Experimental results with multiple part combinations are provided and analyzed in detail.

Item URL in elib:https://elib.dlr.de/142676/
Document Type:Article
Title:Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Nottensteiner, KorbinianUNSPECIFIEDhttps://orcid.org/0000-0002-6016-6235UNSPECIFIED
Sachtler, ArneUNSPECIFIEDhttps://orcid.org/0000-0003-4974-4134UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115863
Date:20 February 2021
Journal or Publication Title:Journal of Intelligent & Robotic Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Series Name:ICAR 2019 Special Issue
Keywords:Autonomous assembly, Sequential Monte Carlo, Compliant manipulation, Sensor fusion, Peg-in-hole, Future manufacturing
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Intelligent Mobility (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Nottensteiner, Korbinian
Deposited On:14 Jun 2021 00:01
Last Modified:11 Sep 2023 13:24

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