  We propose a versatile robotic system for kitting and assembly tasks which
uses no jigs or commercial tool changers. Instead of specialized end effectors,
it uses its two-finger grippers to grasp and hold tools to perform subtasks
such as screwing and suctioning. A third gripper is used as a precision picking
and centering tool, and uses in-built passive compliance to compensate for
small position errors and uncertainty. A novel grasp point detection for bin
picking is described for the kitting task, using a single depth map. Using the
proposed system we competed in the Assembly Challenge of the Industrial
Robotics Category of the World Robot Challenge at the World Robot Summit 2018,
obtaining 4th place and the SICE award for lean design and versatile tool use.
We show the effectiveness of our approach through experiments performed during
the competition.
