Team O2AS' approach for the task-board task of the World Robot Challenge 2018. (17th April 2020)

• Record Type: Journal Article
• Authors: Nie, Kaidi; von Drigalski, Felix; Triyonoputro, Joshua C.; Nakashima, Chisato; Shibata, Yoshiya; Konishi, Yoshinori; Ijiri, Yoshihisa; Yoshioka, Taku; Domae, Yukiyasu; Ueshiba, Toshio; Takase, Ryuichi; Zhang, Xinyi; Petit, Damien; Ramirez-Alpizar, Ixchel G.; Wan, Weiwei; Harada, Kensuke
• Is Part Of: Advanced robotics. Volume 34:Number 7/8(2020)
• Page Start: 477
• Page End: 498
• Publication Date: 2020-04-17
• Subjects: Tool design -- robotic assembly -- task-board -- alignment -- screw arrangement; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2020.1738270
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: In this paper, we describe the approach of Team O2AS to complete the task-board task of the World Robot Challenge 2018, held in Tokyo. We use a custom gripper and graspable tools with in-built compliance to work with various kinds of parts, increase robustness against uncertainties, and to avoid complicated control strategies. The robots are able to finish all the sub-tasks without the need to exchange grippers. The main idea is to use mechanical compliance and self-centering mechanisms to deal with uncertainty. This is achieved by aligning the objects using either the gripper and tools, or by the design of the robot motions. GRAPHICAL ABSTRACT: