Related papers: On CAD Informed Adaptive Robotic Assembly
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
Understanding assembly instruction has the potential to enhance the robot s task planning ability and enables advanced robotic applications. To recognize the key components from the 2D assembly instruction image, We mainly focus on…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
In some high-precision industrial applications, robots are deployed to perform precision assembly tasks on mass batches of manufactured pegs and holes. If the peg and hole are designed with transition fit, machining errors may lead to…
We present the design of a learning-based compliance controller for assembly operations for industrial robots. We propose a solution within the general setting of learning from demonstration (LfD), where a nominal trajectory is provided…
Humans use all of their senses to accomplish different tasks in everyday activities. In contrast, existing work on robotic manipulation mostly relies on one, or occasionally two modalities, such as vision and touch. In this work, we…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…
Computer-Aided Design (CAD) applications are used in manufacturing to model everything from coffee mugs to sports cars. These programs are complex and require years of training and experience to master. A component of all CAD models…
This study investigates how adequate coordination among the different cognitive processes of a humanoid robot can be developed through end-to-end learning of direct perception of visuomotor stream. We propose a deep dynamic neural network…
Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…
The development of an aircraft industrial system is a complex process which faces the challenge of digital discontinuity in multidisciplinary engineering due to various interfaces between different digital tools, leading to extra…
This paper proposes a new concept in which a digital twin derived from a digital product description will automatically perform assembly planning and orchestrate the production resources in a manufacturing cell. Thus the manufacturing cell…
This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…
Computer-Aided Design (CAD) powers modern engineering, yet producing high-quality parts still demands substantial expert effort. Many AI systems tackle CAD reverse engineering, but most are single-pass and miss fine geometric details. In…
Real-world robotic tasks require complex reward functions. When we define the problem the robot needs to solve, we pretend that a designer specifies this complex reward exactly, and it is set in stone from then on. In practice, however,…
Ordinary electric woodworking tools are integrated into a multiple-object-aware augmented framework to assist operators in fabrication tasks. This study presents an advanced evaluation of the developed open-source fabrication software…
Robots are ubiquitous in small-to-large-scale manufacturers. While collaborative robots (cobots) have significant potential in these settings due to their flexibility and ease of use, proper integration is critical to realize their full…
Generation of computer-aided design (CAD) models from multi-view images may be useful in many practical applications. To date, this problem is usually solved with an intermediate point-cloud reconstruction and involves manual work to create…