This paper studies automatic prototyping using LEGO. To satisfy individual needs and self-sustainability, this paper presents a framework that learns the assembly and disassembly sequences from human demonstrations. In addition, a digital twin is developed to verify the correctness of robot learning before deploying to the real world. Moreover, an end-effector tool (EOT) is designed, which allows large industrial robots to easily manipulate LEGO bricks. The proposed system is deployed to a FANUC LR-mate 200id/7L robot. Experiments demonstrate that the proposed system can effectively learn the assembly and disassembly tasks from human demonstrations. And the learned tasks are realized by the FANUC robot.
@article{arxiv.2305.15667,
title = {Robotic LEGO Assembly and Disassembly from Human Demonstration},
author = {Ruixuan Liu and Yifan Sun and Changliu Liu},
journal= {arXiv preprint arXiv:2305.15667},
year = {2023}
}