individual
What campus are you from?
Daytona Beach
Authors' Class Standing
Dheer Chhabria, Senior
Lead Presenter's Name
Dheer Chhabria
Faculty Mentor Name
Dr. Cagri Kilic
Abstract
Autonomous robotic assembly is critical for constructing infrastructure on lunar and Martian surfaces, where human intervention is limited by communication delays and extreme environments. This study presents a comprehensive simulation framework using physics based robotic arm simulations to validate dual arm robotic assembly with LEGO based modular blocks under simulated planetary conditions. The system integrates RGB-D perception, vision based object detection, 7-DOF arm control, and coordinated pick and place tasks to achieve autonomous stacking and assembly of the blocks. Preliminary results demonstrate robust block detection, collision free trajectories, and high grasp accuracy in reduced gravity. The methodology surveys state of the art multi robot coordination and sim to real workflows, proposing extensions for higher fidelity simulations. This work aims to lay the foundation for scalable and autonomous assembly stations for future planetary missions.
Did this research project receive funding support from the Office of Undergraduate Research.
No
Autonomous Robotic Assembly Stations for Planetary Missions: A Simulation Driven Study with LEGO Manipulation
Autonomous robotic assembly is critical for constructing infrastructure on lunar and Martian surfaces, where human intervention is limited by communication delays and extreme environments. This study presents a comprehensive simulation framework using physics based robotic arm simulations to validate dual arm robotic assembly with LEGO based modular blocks under simulated planetary conditions. The system integrates RGB-D perception, vision based object detection, 7-DOF arm control, and coordinated pick and place tasks to achieve autonomous stacking and assembly of the blocks. Preliminary results demonstrate robust block detection, collision free trajectories, and high grasp accuracy in reduced gravity. The methodology surveys state of the art multi robot coordination and sim to real workflows, proposing extensions for higher fidelity simulations. This work aims to lay the foundation for scalable and autonomous assembly stations for future planetary missions.