Curie's Jarvis：印刷プロトコルからの自律ロボット化学実験

原文アブストラクト

A person running a bench experiment works from a printed instruction sheet, tells identical containers apart by the labels written on them, and looks at the bench again before each step. Lab automation usually works the other way around: the procedure is written as a script, and containers stand at fixed positions or carry fiducial markers. We present Curie's Jarvis, a system that lets a robot arm carry out a chemistry experiment on a bench set up for people. It reads the steps from a photo of the printed sheet, finds containers on an ordinary bench with no fixed positions or markers, tells identical-looking containers apart by reading their labels in four camera views, locates its target again before every step, and sets how each step is carried out, including its speed, from what is being handled. On a Franka Panda arm, Curie's Jarvis completed 5 of 5 runs of one protocol from a children's chemistry kit and 4 of 5 runs of another, with no human intervention, and in 160 locates on printed and handwritten labels it identified every container correctly. This brings robots a step closer to doing bench chemistry the way people do.