Demonstration of Complex Task Execution using Basic Functionalities

Mobile assistance robots, also known as mobile manipulators, are slowly making their way out of research laboratories and into real world applications in industry. In this paper we will describe the mobile assistance robot, "ANNIE", which was developed by the Fraunhofer IFF Business Unit Robotic Systems and features a holonomic motion platform, a KUKA lightweight arm LBR 4+ outfitted with a universal gripper, and a wide array of integrated sensors including tactile sensors and a light-field camera. After a brief overview of the robot hardware, we will describe three exemplary tasks carried out by ANNIE, namely tightening screws in a mechanical assembly, acting as a third-hand to assist a human operator lift and position a long, unwieldy part, and autonomously carrying out intra-production logistic tasks (pick and place). The skills-based programming system and the background services necessary for integration will also be described in this paper.