Autonomous Robots

, 28:131

An autonomous mobile manipulator for assembly tasks


    • Carnegie Mellon University
  • Seth Koterba
    • Carnegie Mellon University
  • Jane Shi
    • Research and Development Center, Manufacturing Systems Research Lab.General Motors Company
  • Reid Simmons
    • Carnegie Mellon University
  • Sanjiv Singh
    • Carnegie Mellon University

DOI: 10.1007/s10514-009-9142-y

Cite this article as:
Hamner, B., Koterba, S., Shi, J. et al. Auton Robot (2010) 28: 131. doi:10.1007/s10514-009-9142-y


The fundamental difference between autonomous robotic assembly and traditional hard automation, currently utilized in large-scale manufacturing production, lies in the specific approaches used in locating, acquiring, manipulating, aligning, and assembling parts. An autonomous robotic assembly manipulator offers high flexibility and high capability to deal with the inherent system uncertainties, unknowns, and exceptions. This paper presents an autonomous mobile manipulator that effectively overcomes inherent system uncertainties and exceptions by utilizing control strategies that employ coordinated control, combine visual and force servoing, and incorporate sophisticated reactive task control. The mobile manipulation system has been demonstrated experimentally to achieve high reliability for a “peg-in-hole” type of insertion assembly task that is commonly encountered in automotive wiring harness assembly.


Mobile manipulationCoordinated controlConstrained motionTask architecture

Copyright information

© Springer Science+Business Media, LLC 2009