A Pump Solenoid Assembly Task

The experiment consists of two 7-DOF KUKA LBR iiwa robots mounted on a torso, resembling a human-like posture. The robots have an overlapping workspace such that collisions between them can occur. The task involves an industrial pump solenoid assembly task in a dynamic environment where unforeseen disturbances, e.g., an obstacle (detected with a Vive tracker) and a force-based disturbance by a human operator (detected with force sensors), might enter the workspace. The task goal is to assemble solenoids for an industrial pump. In this work, reactive robot skills are composable and computed at runtime by a task planner. When a disturbance is detected at execution time, the task planner computes online a composed behavior in order to react to the disturbance.