Althea: Minimalist Representation for Robot Assembly Tasks

Jonathan B. Handler

Althea is a hand-eye robot system that applies minimalist representation techniques to the task of building a wall from Duplo bricks. Duplos are large Lego bricks -- molded plastic blocks that interlock with one another. The system visually and then manually acquires Duplos, orients them in the robot’s gripper, and then joins them to the wall.


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