Science Robotics

Supplementary Materials

Supplementary Material for:

Can robots assemble an IKEA chair?

Francisco Suárez-Ruiz, Xian Zhou, Quang-Cuong Pham*

*Corresponding author. Email: cuong{at}

Published 18 April 2018, Sci. Robot. 3, eaat6385 (2018)
DOI: 10.1126/scirobotics.aat6385

This PDF file includes:

  • Supplementary Text
  • Fig. S1. Chair kit, hardware, and software architectures.
  • Fig. S2. Key steps in the assembly process.
  • Fig. S3. Hybrid position/force control.
  • Fig. S4. Workspace optimization.
  • Legend for movie S1

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Autonomous assembly of the full chair frame recorded in a single take.

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