Related papers: A Framework for Fine Robotic Assembly
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
Recent advances in vision, language, and multimodal learning have substantially accelerated progress in robotic foundation models, with robot manipulation remaining a central and challenging problem. This survey examines robot manipulation…
Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human assembly can be too skillful for the robot to realize…
Computational design can excite the full potential of soft robotics that has the drawbacks of being highly nonlinear from material, structure, and contact. Up to date, enthusiastic research interests have been demonstrated for individual…
Although digital fabrication processes at the desktop scale have become proficient and prolific, systems aimed at producing larger-scale structures are still typically complex, expensive, and unreliable. In this work, we present an approach…
Robots often need to be reconfigurable$-$to customize, calibrate, or optimize robots operating in varying environments with different hardware). A particular challenge in robotics is the automated and dynamic reconfiguration to load and…
There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and motion planning (TAMP) methods, while effective in this…
We propose a novel fast and accurate simulation framework for contact-intensive tight-tolerance robotic assembly tasks. The key components of our framework are as follows: 1) data-driven contact point clustering with a certain…
Robots often face manipulation tasks in environments where vision is inadequate due to clutter, occlusions, or poor lighting--for example, reaching a shutoff valve at the back of a sink cabinet or locating a light switch above a crowded…
We argue that hardware modularity plays a key role in the convergence of Robotics and Artificial Intelligence (AI). We introduce a new approach for building robots that leads to more adaptable and capable machines. We present the concept of…
In this paper, we present a topology optimization (TO) framework to enable automated design of mechanical components while ensuring the result can be manufactured using multi-axis machining. Although TO improves the part's performance, the…
The Industrial Assembly Challenge at the World Robot Summit was held in 2018 to showcase the state-of-the-art of autonomous manufacturing systems. The challenge included various tasks, such as bin picking, kitting, and assembly of standard…
We propose a novel algorithm for forming arbitrarily shaped assemblies using decentralized robots. By relying on local interactions, the algorithm ensures there are no unreachable states or gaps in the assembly, which are global properties.…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
Assembly planning is a fundamental problem in robotics and automation, which involves designing a sequence of motions to bring the separate constituent parts of a product into their final placement in the product. Assembly planning is…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…