Assemblies of objects for the 3rd hand project

Participants : Yoan Mollard [correspondant] , Thibaut Munzer, Manuel Lopes.

The 3rd hand project aims to develop a semi-autonomous robot assistant that acts as a third hand of a human worker. Especially, both should be able to undertake assembly tasks together, in a cooperative way. In order to analyse assembly tasks we recorded 6 datasets of two objects being assembled by a human. The experiment setup has the form of a single user assembling simple furnitures (a chair and a bench) composed by several distinct parts (seating, back, legs). Each part is tracked thanks to an Optitrack system and a set of reflective markers during the whole assembly. The experimental setup records the absolute poses of each part (position and orientation) and relative poses of each couple of objects.