Related papers: Autonomous Industrial Assembly using Force, Torque…
Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original…
This paper introduces a discrete-continuous action space to learn insertion primitives for robotic assembly tasks. Primitive is a sequence of elementary actions with certain exit conditions, such as "pushing down the peg until contact".…
Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…
Industry 4.0 introduced AI as a transformative solution for modernizing manufacturing processes. Its successor, Industry 5.0, envisions humans as collaborators and experts guiding these AI-driven manufacturing solutions. Developing these…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
Robotic cloth manipulation faces challenges due to the fabric's complex dynamics and the high dimensionality of configuration spaces. Previous methods have largely focused on isolated smoothing or folding tasks and overly reliant on…
This paper presents a simulation-driven approach for automating the force-controlled assembly of electrical terminals on DIN-rails, a task traditionally hindered by high programming effort and product variability. The proposed method…
Industrial assembly of deformable linear objects (DLOs) such as cables offers great potential for many industries. However, DLOs pose several challenges for robot-based automation due to the inherent complexity of deformation and,…
Traditional aggregate sorting methods, whether manual or mechanical, often suffer from low precision, limited flexibility, and poor adaptability to diverse material properties such as size, shape, and lithology. To address these…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Automatic Robotic Assembly Sequence Planning (RASP) can significantly improve productivity and resilience in modern manufacturing along with the growing need for greater product customization. One of the main challenges in realizing such…
Automating the assembly of wire harnesses is challenging in automotive, electrical cabinet, and aircraft production, particularly due to deformable cables and a high variance in connector geometries. In addition, connectors must be inserted…
Assembly is a fundamental skill for robots in both modern manufacturing and service robotics. Existing datasets aim to address the data bottleneck in training general-purpose robot models, falling short of capturing contact-rich assembly…
Wire-harnessing tasks pose great challenges to be automated by the robot due to the complex dynamics and unpredictable behavior of the deformable wire. Traditional methods, often reliant on dual-robot arms or tactile sensing, face…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Most existing 3D assembly methods treat the problem as pure pose estimation, rearranging observed parts via rigid transformations. In contrast, human assembly naturally couples structural reasoning with holistic shape inference. Inspired by…
The algorithmic self-assembly of shapes has been considered in several models of self-assembly. For the problem of \emph{shape construction}, we consider an extended version of the Two-Handed Tile Assembly Model (2HAM), which contains…
As robots proliferate in manufacturing, Design for Robotic Assembly (DfRA), which is designing products for efficient automated assembly, is increasingly important. Traditional approaches to DfRA rely on manual planning, which is…
Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Desirable robotic solutions in this space need to be low-cost,…