Abstract:
As the use of robotic manipulation in manufacturing continues to increase, the robustness requirements for fastening operations such as screwdriving increase as well. To investigate the reliability of screwdriving and the diverse failure categories that can arise, we collected a dataset of screwdriving operations and manually classified them into stages and result categories. I will present the data collection process, analysis, and lessons learned, and I will discuss how to transfer this knowledge to collecting another manipulation dataset.

Research Qualifier Committee:
Matt Mason
Nancy Pollard
Artur Dubrawski
Stefanos Nikolaidis