Abstract Human-robot collaboration (HRC) is critical to today’s tendency towards high-flexible assembly in manufacturing. Human action recognition, as one of the core prerequisites for HRC, enables industrial robots understand human intentions and execute planning adaptively. However, existing deep learning-based recognition methods rely heavily on a huge amount annotation data, which may not b...

In modern industrial assembly and quality control processes, that provide one of the crucial factors for the competitiveness of industry in general, there is a strong need for advanced robot-based object detection and recognition, object grasping and for the capability to perform assembling operations in non-structured environments with randomly positioned objects. Vision-based robotic assembly...

1 0-8703-7231-X/01/$10.00/ 2002 IEEE Abstract—Many initiatives under study by both the space science and earth science communities require large space systems, i.e. with apertures > 15 m or dimensions > 20 m. This paper reviews the effort in NASA Langley Research Center’s Automated Structural Assembly Laboratory which laid the foundations for robotic construction of these systems. In the Autom...

We propose the concept of self-assembly of smart tiles, i.e., tiles which possess a local computational device in addition to having edge glues that can be activated or deactivated by signals. We demonstrate the potential of self-assembly with smart tiles to efficiently perform robotic tasks such as the replication of convex shapes. The smart tile assembly system we construct does not make any ...

The objective of this study is to minimize the expected present worth of the production costs incurred over the operational life of a robotic assembly system that is integrated with an Automatic Storage/Retrieval System (AS/RS). Production costs include inventory cost and capital cost of equipment. Inventory cost consists of ordering, holding, and lostproduction costs; and all of these costs de...

With the growth of robotic technology, there is a need for performance measures to characterize and compare robots and to help determine which features are most suited to a particular application. Robot systems are complex and involve a wide range of features and performance characteristics whose importance differs depending on the application domain. This paper describes a set of assembly perf...

Nature is considered one promising area to search for inspiration in designing robotic systems. Some work in swarm robotics has tried to build systems that resemble distributed biological systems and inherit biology’s fault tolerance, scalability, dependability, and robustness. Such systems, as well as ones in the areas of active self-assembly and amorphous computing, typically use relatively s...

Programmable self-assembly of chained robotic systems holds potential for the automatic construction of complex robots from a minimal set of building blocks. However, current robotic platforms are limited to modules of uniform rigidity, which results in a limited range of obtainable morphologies and thus functionalities of the system. To address these challenges, we investigate in this paper th...

In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems with inserts is presented. Previous work demonstrated the use of the Rapid Prototype Stereolithography and Selective Laser Sintering techniques to fabricate prototypes of mechanical mobile joints. As examples of their applicability, the joint designs were then used to fabricate complex multi-articula...

In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems and mechanisms with inserts is presented. Previous work demonstrated the use of the Rapid Prototype Stereolithography and Selective Laser Sintering techniques to fabricate prototypes of mechanical mobile joints. As examples of their applicability, the joint designs were then used to fabricate complex...