Related papers: Efficiently Disassemble-and-Pack for Mechanism
Higher-dimensional orthogonal packing problems have a wide range of practical applications, including packing, cutting, and scheduling. Combining the use of our data structure for characterizing feasible packings with our new classes of…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
We study a class of rearrangement problems under a novel pick-n-swap prehensile manipulation model, in which a robotic manipulator, capable of carrying an item and making item swaps, is tasked to sort items stored in lattices of variable…
Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…
When operating in unstructured environments such as warehouses, homes, and retail centers, robots are frequently required to interactively search for and retrieve specific objects from cluttered bins, shelves, or tables. Mechanical Search…
Recent progress in 3D object generation has greatly improved both the quality and efficiency. However, most existing methods generate a single mesh with all parts fused together, which limits the ability to edit or manipulate individual…
This paper presents a piecewise convexification method to approximate the whole approximate optimal solution set of non-convex optimization problems with box constraints. In the process of box division, we first classify the sub-boxes and…
Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…
We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
Robotic bin packing is very challenging, especially when considering practical needs such as object variety and packing compactness. This paper presents SDF-Pack, a new approach based on signed distance field (SDF) to model the geometric…
Reconstructing a complete object from its parts is a fundamental problem in many scientific domains. The purpose of this article is to provide a systematic survey on this topic. The reassembly problem requires understanding the attributes…
The description of complex configuration is a difficult issue. We present a powerful technique for cluster identification and characterization. The scheme is designed to treat with and analyze the experimental and/or simulation data from…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
We study the two-dimensional hierarchical rectangle packing problem, motivated by applications in analog integrated circuit layout, facility layout, and logistics. Unlike classical strip or bin packing, the dimensions of the container are…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
Compliant mechanisms achieve motion through elastic deformation. In this work, we address the synthesis of a compliant cross-hinge mechanism capable of large angular strokes while approximating the behavior of an ideal revolute joint. To…
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…