Related papers: Optimizing towards the best insertion-based error-…
Reliable insertion of industrial connectors remains a central challenge in robotics, requiring sub-millimeter precision under uncertainty and often without full visual access. Vision-based approaches struggle with occlusion and limited…
Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…
Shape assembly composes complex shapes geometries by arranging simple part geometries and has wide applications in autonomous robotic assembly and CAD modeling. Existing works focus on geometry reasoning and neglect the actual physical…
Complicated assembly processes can be described as a sequence of two main activities: grasping and insertion. While general grasping solutions are common in industry, insertion is still only applicable to small subsets of problems, mainly…
Insertion operations are a critical element of most robotic assembly operation, and peg-in-hole (PiH) insertion is one of the most widely studied tasks in the industrial and academic manipulation communities. PiH insertion is in fact an…
It is common to manufacture an object by decomposing it into parts that can be assembled. This decomposition is often required by size limits of the machine, the complex structure of the shape, etc. To make it possible to easily assemble…
Robust and adaptive robotic peg-in-hole assembly under tight tolerances is critical to various industrial applications. However, it remains an open challenge due to perceptual and physical uncertainties from contact-rich interactions that…
This paper presents a methodology for model based robust fault diagnosis and a methodology for input design to obtain optimal diagnosis of faults. The proposed algorithm is suitable for real time implementation. Issues of robustness are…
Robotic assembly of complex, non-convex geometries with tight clearances remains a challenging problem, demanding precise state estimation for successful insertion. In this work, we propose a novel framework that relies solely on contact…
Soft robot serial chain manipulators with the capability for growth, stiffness control, and discrete joints have the potential to approach the dexterity of traditional robot arms, while improving safety, lowering cost, and providing an…
The latest sheet stamping processes enable efficient manufacturing of complex shape structural components that have high stiffness to weight ratios, but these processes can introduce defects. To assist component design for stamping…
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…
The paper presents a topology optimization approach that designs an optimal structure, called a self-supporting structure, which is ready to be fabricated via additive manufacturing without the usage of additional support structures. Such…
This paper provides a method for the simultaneous topology optimization of parts and their corresponding joint locations in an assembly. Therein, the joint locations are not discrete and predefined, but continuously movable. The underlying…
High-precision assembly frequently involves tight-tolerance insertions, where even slight pose errors can cause jamming or excessive interaction forces, making robust and safe insertion policies difficult to obtain. This paper proposes a…
This paper investigates the generative designing of a bracket that aids in the rotation of a linkage mounted on it with a revolute joint. Generative design is a term that is generally used when we care about weight reduction and performance…
In this paper, we introduce a novel open source toolbox for design optimization in Soft Robotics. We consider that design optimization is an important trend in Soft Robotics that is changing the way in which designs will be shared and…
Flexible network design deals with building a network that guarantees some connectivity requirements between its vertices, even when some of its elements (like vertices or edges) fail. In particular, the set of edges (resp. vertices) of a…
In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface while overlooking the stability of contact point distribution,…
In this paper we report a new promising idea on the design and manufacturing of ply composite structures, tailored to exhibit maximum stiffness under given weight constraints and loading conditions. It is based on the idea behind an…