{"id":"https://openalex.org/W4281664963","doi":"https://doi.org/10.1109/icarsc55462.2022.9784775","title":"Robotic Framework for Autonomous Assembly: a Report from the Robothon 2021 Grand Challenge","display_name":"Robotic Framework for Autonomous Assembly: a Report from the Robothon 2021 Grand Challenge","publication_year":2022,"publication_date":"2022-04-29","ids":{"openalex":"https://openalex.org/W4281664963","doi":"https://doi.org/10.1109/icarsc55462.2022.9784775"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc55462.2022.9784775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc55462.2022.9784775","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/doc/1662789/document.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072138942","display_name":"Jonas Wittmann","orcid":"https://orcid.org/0000-0001-5116-3625"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jonas Wittmann","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence Technical University of Munich,Chair of Applied Mechanics TUM School of Engineering and Design","Chair of Applied Mechanics TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence Technical University of Munich,Chair of Applied Mechanics TUM School of Engineering and Design","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Applied Mechanics TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002287398","display_name":"Florian Pachler","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Pachler","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence Technical University of Munich,Chair of Applied Mechanics TUM School of Engineering and Design","Chair of Applied Mechanics TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence Technical University of Munich,Chair of Applied Mechanics TUM School of Engineering and Design","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Applied Mechanics TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058704206","display_name":"Patrick Ruhkamp","orcid":"https://orcid.org/0000-0001-6541-3111"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Patrick Ruhkamp","raw_affiliation_strings":["Technical University of Munich,Computer Aided Medical Procedures & AR,Department of Informatics","AR, Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Computer Aided Medical Procedures & AR,Department of Informatics","institution_ids":[]},{"raw_affiliation_string":"AR, Technical University of Munich","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030648992","display_name":"Hyunjun Jung","orcid":"https://orcid.org/0000-0002-6717-1395"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hyunjun Jung","raw_affiliation_strings":["Technical University of Munich,Computer Aided Medical Procedures & AR,Department of Informatics","AR, Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich,Computer Aided Medical Procedures & AR,Department of Informatics","institution_ids":[]},{"raw_affiliation_string":"AR, Technical University of Munich","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059600661","display_name":"Felix Sygulla","orcid":"https://orcid.org/0000-0003-2509-8027"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Sygulla","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence Technical University of Munich,Chair of Applied Mechanics TUM School of Engineering and Design","Chair of Applied Mechanics TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence Technical University of Munich,Chair of Applied Mechanics TUM School of Engineering and Design","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Applied Mechanics TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061262654","display_name":"Daniel Rixen","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Rixen","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence Technical University of Munich,Chair of Applied Mechanics TUM School of Engineering and Design","Chair of Applied Mechanics TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence Technical University of Munich,Chair of Applied Mechanics TUM School of Engineering and Design","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Chair of Applied Mechanics TUM School of Engineering and Design, Munich Institute of Robotics and Machine Intelligence Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5072138942"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.3615,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.55534779,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"59","last_page":"65"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7245009541511536},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.7111629843711853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6269078850746155},{"id":"https://openalex.org/keywords/automotive-industry","display_name":"Automotive industry","score":0.5980925559997559},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.597313404083252},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4495391845703125},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.4223436117172241},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41457730531692505},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41399532556533813},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3650627136230469},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.28386300802230835},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25097769498825073}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7245009541511536},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.7111629843711853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6269078850746155},{"id":"https://openalex.org/C526921623","wikidata":"https://www.wikidata.org/wiki/Q190117","display_name":"Automotive industry","level":2,"score":0.5980925559997559},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.597313404083252},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4495391845703125},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.4223436117172241},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41457730531692505},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41399532556533813},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3650627136230469},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.28386300802230835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25097769498825073},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarsc55462.2022.9784775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc55462.2022.9784775","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1662789","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1662789","pdf_url":"https://mediatum.ub.tum.de/doc/1662789/document.pdf","source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1662789","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1662789","pdf_url":"https://mediatum.ub.tum.de/doc/1662789/document.pdf","source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"ConferencePaper"},"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4281664963.pdf","grobid_xml":"https://content.openalex.org/works/W4281664963.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1495976112","https://openalex.org/W1560270123","https://openalex.org/W1991544872","https://openalex.org/W2086113803","https://openalex.org/W2141664020","https://openalex.org/W2151103935","https://openalex.org/W2187358595","https://openalex.org/W2552487967","https://openalex.org/W2577702365","https://openalex.org/W2603328422","https://openalex.org/W2732202006","https://openalex.org/W2772976964","https://openalex.org/W2775416623","https://openalex.org/W2775582993","https://openalex.org/W2967717386","https://openalex.org/W3005604102","https://openalex.org/W3026307653","https://openalex.org/W3034113812","https://openalex.org/W3131502908","https://openalex.org/W3177069133","https://openalex.org/W3179923621","https://openalex.org/W4225986028","https://openalex.org/W4287375269","https://openalex.org/W4289489637"],"related_works":["https://openalex.org/W4382644535","https://openalex.org/W2522768275","https://openalex.org/W2352938035","https://openalex.org/W2351672553","https://openalex.org/W2373392303","https://openalex.org/W2765894405","https://openalex.org/W1884735063","https://openalex.org/W2372668238","https://openalex.org/W2560421750","https://openalex.org/W4391180485"],"abstract_inverted_index":{"Up":[0],"to":[1,61],"now,":[2],"many":[3],"repetitive":[4],"industrial":[5],"processes,":[6],"like":[7],"welding":[8],"in":[9],"automotive,":[10],"have":[11],"been":[12],"automated.":[13],"However,":[14],"robust":[15],"solutions":[16],"for":[17,69],"assembly":[18,50,63],"operations":[19],"that,":[20],"besides":[21],"precise":[22,27],"robot":[23,96],"positioning,":[24],"also":[25],"require":[26],"tactile":[28],"interaction":[29],"are":[30,45],"not":[31],"available":[32],"yet.":[33],"The":[34],"current":[35],"research":[36],"efforts":[37],"on":[38,92],"sensitive":[39],"collaborative":[40],"robots":[41],"and":[42,78,89,97],"their":[43],"control":[44],"a":[46,93,115],"promising":[47],"step":[48],"towards":[49],"automation.":[51],"In":[52],"our":[53,87,130],"contribution":[54],"we":[55,109],"present":[56,82],"an":[57,98],"autonomous":[58],"robotic":[59],"framework":[60,131],"automate":[62],"tasks.":[64],"It":[65],"implements":[66],"state-of-the-art":[67],"algorithms":[68],"object":[70],"localization,":[71],"motion":[72],"planning,":[73],"force":[74],"control,":[75],"error":[76],"handling":[77],"task":[79],"scheduling.":[80],"We":[81],"the":[83,101,106,111,133],"implementation":[84],"details":[85],"of":[86,105,137],"localization":[88],"insertion":[90],"skills":[91],"FRANKA":[94],"EMIKA":[95],"Intel":[99],"RealSense,":[100],"two":[102],"main":[103],"components":[104],"framework.":[107],"Further,":[108],"introduce":[110],"Robothon":[112],"Grand":[113],"Challenge,":[114],"new":[116],"biennial":[117],"competition":[118],"series":[119],"that":[120,128],"deals":[121],"with":[122],"automated":[123],"electronic":[124],"waste":[125],"decomposition.":[126],"Within":[127],"competition,":[129],"made":[132],"fifth":[134],"place":[135],"out":[136],"nine":[138],"teams.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}