Robotic Assembly Planning from Video Demonstration

Abhinav Upadhyay, Priyanshu Barua, Alpana Dubey, Shubhashis Sengupta, Piyush Goenka, Suma Mani Kuriakose

Abstract: Manufacturing at scale, demands automation. Robotic automation is one of the primary ways to achieve it. However, robotic automation aims at fixed assembly lines designed for a specific set of products. As the demand for specialized and customized products is increasing, manufacturing processes need to be more agile. However, incorporating any change in robotic assembly is manual. In our work, we propose a robotic assembly framework that generates an assembly plan from an RGB-D video demonstration. We use our framework to demonstrate the robotic assembly of IKEA furniture. The results show the effectiveness of our proposed framework in solving assembly tasks that demand high precision.