Meta-Modeling of Assembly Contingencies and Planning for Repair

TL;DR

This paper introduces a layered strategy for robotic assembly contingency planning, focusing on failure characterization and repair strategies to enhance adaptability and robustness in semi-structured environments.

Contribution

It presents a novel layered modeling approach for assembly failures and repair strategies, improving robot adaptability in complex tasks.

Findings

Simple failures are most common in the WRC system

Proposed models effectively characterize failures

Repair strategies enhance system robustness

Abstract

The World Robotics Challenge (2018 & 2020) was designed to challenge teams to design systems that are easy to adapt to new tasks and to ensure robust operation in a semi-structured environment. We present a layered strategy to transform missions into tasks and actions and provide a set of strategies to address simple and complex failures. We propose a model for characterizing failures using this model and discuss repairs. Simple failures are by far the most common in our WRC system and we also present how we repaired them.