MFI Testbed

The objective of the project is to emulate high-mix/low-volume continuous manufacturing. The envisioned testbed is a circular manufacturing ecosystem where parts are assembled, then disassembled such that no material is wasted and where 24/7 operational costs are low, providing potential to generate large datasets. An initial target application is the assembly and disassembly of LEGO® blocks as a fun and compelling technology demonstrator and driver. The expected testbed will grow and build upon a reusable and open-sourced codebase.

Executing orders of two LEGO® stickman human assembly/disassembly

The version 1.0 of the integrated demo was possible due to the work of following contributors:

Stephen Smith, Zack Rubinstein, Jiaoyang Li, Jingtian Yan, Oliver Kroemer, Kevin Zhang, Changliu Liu, Ruixuan Liu, Srinivasa Narasimhan, Karnik Ram, Robert Tamburo, Siddhant Wadhawa, Vineet Tambe, Sushant Jayanth, Sergi Widjaja, Soham Bhave, Gary Fedder, Rod Heiple, Shobhit Aggarwal

---

Site Index

• System Overview
  • Resources
  • System Architecture

Testbed Resources

• Manufacturing Executive System
  • Assembly/Disassembly Order Workflow
  • Virtual Resources
    • Human operated Resources
    • No task Resources
• Robot Arms
  • Motion Stack and MoveIt
  • Skills
    • LEGO® Manipulation
      • > Simulation
      • > Assembly/Disassembly Task
      • > Integration with MES
    • Pallet Pick and Place
  • Other Utilities
• Autonomous Mobile Robots
  • System Architecture
  • Simulation Environment
  • Integration with MES
  • Other Resources
• Safety Light Curtains
  • System Overview
  • Research Paper(s)

Demo

• Integrated Demo
• Loop Demo

Utilities

• Utilities

Tutorials

• Robot Arms
• Autonomous Mobile Robots