IEEE Robotics & Automation Magazine - June 2023 - 96
Next-Generation
Furniture Assembly
by AI and Robots
Team SK2Y: A Winner of the Furniture Assembly
Competition at AI-Robot Challenge 2021
By Seongseop Yun , Myoung-Su Choi , Min-Young Cho, Keunhwan Kim ,
Dong-Hyuk Lee , Sewoong Jun, Ji-Hun Bae , and Dongjun Shin
The " Furniture Assembly AI-Robot Challenge 2021 " is a
competition that evaluates the performance of the robot
for an assigned furniture assembly task by combining
both artificial intelligence (AI) and robot technology. To
generate commands such that a robot can execute the
assembly instructions, it is essential to develop an AIbased
algorithm that can recognize and interpret the
assembly process based on the given instructions. The
assembly robot must be dexterous and able to safely execute
assembly tasks without operator intervention.
Before the assembly process, our team identified the
assembly instructions by using the Faster-region-based
convolutional neural network (Faster-RCNN) and the
multiobject rectified attention network (MORAN) recognition
methods and interpreted the recognized information
by creating a connection relationship tree structure.
Furthermore, the robot could execute the assembly task
quickly and dexterously by employing a predeveloped
multifingered gripper and a manipulation station. Based
on these exceptional results, our team was awarded first
place, thus validating the adequacy of the proposed robot
system for complex furniture assembly tasks.
BACKGROUND
The field of robotics has been evolving owing to a rising
demand for automated processes, but fully automated
assembly remains a work in progress [1], [2]. Robots were
Digital Object Identifier 10.1109/MRA.2022.3188214
Date of current version: 22 August 2022
96 IEEE ROBOTICS & AUTOMATION MAGAZINE JUNE 2023
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IEEE Robotics & Automation Magazine - June 2023
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