WRS2020 World Robot Summit

As the O2AC team, we developed a dual arm system to tackle assembly task in a flexible manner with the additional goal of being afforable, cheap vision system hardware and cheap tools.

Our 2-minute team intro video showcasing our approach is here.

See our exhibition talk and demo here.

See our completed taskboard run here.

Code is available at https://github.com/o2ac/o2ac-ur

Contributions

I participated as a Ph.D student at Osaka University and as an intern at OMRON Sinicx. I developed the compliance controller that allowed the robots to perform smooth insertions with tight tolerances.

Additionally, I helped developed a simultaneous motions controller on the ROS motion planning library MoveIt (Our implementation has been submitted see here), which allow us to have each robot plan and execute collision-free trajectories simultanously and independently without needing to manually coordinate the motion of both robots.

Furthermore, I was heavily involved in the development of the high level planner that allow us to solve assembly task based on the CAD model information of the product and its parts. Within this planner I developed several manipulation strategies to orient and align the components using the environment geometry constraints and handover for the assembly process.

Orienting

Aligning/Centering