On the design of intelligent robotic agents for assembly

The integration of machine vision and force sensing has been useful to demonstrate the usefulness of the cognitive architecture to acquire knowledge and to effectively use it to improve its behaviour. Practical results are presented, showing that the robot is able to recognise a given component and to carry out the assembly. Adaptability is validated by using different component geometry during assemblies and also through skill learning which is shown by the robot's dexterity.