Related papers: Assembly Planning by Subassembly Decomposition Usi…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
Assembly sequence planning (ASP) is the essential process for modern manufacturing, proven to be NP-complete thus its effective and efficient solution has been a challenge for researchers in the field. In this paper, we present a…
The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…
Assembly of multi-part physical structures is both a valuable end product for autonomous robotics, as well as a valuable diagnostic task for open-ended training of embodied intelligent agents. We introduce a naturalistic physics-based…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
In this paper, we present a disassemble-and-pack approach for a mechanism to seek a box which contains total mechanical parts with high space utilization. Its key feature is that mechanism contains not only geometric shapes but also…
Sequence segmentation is a well-studied problem, where given a sequence of elements, an integer K, and some measure of homogeneity, the task is to split the sequence into K contiguous segments that are maximally homogeneous. A classic…
The design space for a self-assembled multicomponent objects ranges from a solution in which every building block is unique to one with the minimum number of distinct building blocks that unambiguously define the target structure. Using a…
Disassembly is fundamental to binary analysis and rewriting. We present a novel disassembly technique that takes a stripped binary and produces reassembleable assembly code. The resulting assembly code has accurate symbolic information,…
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…
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…
This paper proposes a robot assembly planning method by automatically reading the graphical instruction manuals design for humans. Essentially, the method generates an Assembly Task Sequence Graph (ATSG) by recognizing a graphical…
E-waste is growing rapidly while recycling rates remain low. We propose an electronic-device Graph-based Adaptive Planning (eGRAP) that integrates vision, dynamic planning, and dual-arm execution for autonomous disassembly. A…
We prove that by successively combining subassemblies, we can achieve sublinear construction times for "staged" assembly of micro-scale objects from a large number of tiny particles, for vast classes of shapes; this is a significant advance…
Self-assembly processes in biological and synthetic biomolecular systems are often governed by the spatial separation of biochemical processes. While previous work has focused on optimizing self-assembly through fine-tuned reaction…
To accelerate automated remanufacturing, robotic disassembly must be considered during the product design phase. However, designers currently lack quantitative feedback to identify which structural elements hinder robotic operations. To…
Combinatorial assembly uses standardized unit primitives to build objects that satisfy user specifications. This paper studies assembly sequence planning (ASP) for physical combinatorial assembly. Given the shape of the desired object, the…
In this paper, we present a structured approach to selecting and designing a set of grippers for an assembly task. Compared to current experience-based gripper design method, our approach accelerates the design process by automatically…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
This paper addresses the problem of reassembling images from disjointed fragments. More specifically, given an unordered set of fragments, we aim at reassembling one or several possibly incomplete images. The main contributions of this work…