Abstract
Summary Robots in the next decade should be able to easily understand the job to be performed, automatically plan action procedures and successfully execute the plan. This paper describes the robot ARI [Assembly Robot with Intelligence) which achieved these objectives for simple assembling operations. ARI has two eyes, a neck, two arms and a trunk -like upper half of a human body. The robot is controlled by a engineering work-station and several micro-computers. By simply observing a sample assembly of toy blocks, ARI can autonomously construct a replica. The robot first determines the 3-dimensional structure of the sample assembly and then plans a procedure to construct a replica. ARI next carries out the procedure with the aid of vision and force sensors.
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