Related papers: Assemble Them All: Physics-Based Planning for Gene…
We present assembly-theory, a Rust package for computing assembly indices of covalently bonded molecular structures. This is a key complexity measure of assembly theory, a recent theoretical framework quantifying selection across diverse…
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…
This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…
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…
This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…
This paper introduces a new shape-matching methodology, combinative matching, to combine interlocking parts for geometric shape assembly. Previous methods for geometric assembly typically rely on aligning parts by finding identical surfaces…
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute.…
This paper deals with the problem of simulating dense dispersed systems composed by large numbers of particles undergoing ballistic aggregation. The most classical approaches for dealing with such problems are represented by the so-called…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
Building a deployable PhysiComp that merges form and function typically involves a significant investment of time and skill in digital electronics, 3D modeling and mechanical design. We aim to help designers quickly create prototypes by…
De novo genome assembly focuses on finding connections between a vast amount of short sequences in order to reconstruct the original genome. The central problem of genome assembly could be described as finding a Hamiltonian path through a…
This paper presents a planner that can automatically find an optimal assembly sequence for a dual-arm robot to assemble the soma blocks. The planner uses the mesh model of objects and the final state of the assembly to generate all possible…
Generalized planning accelerates classical planning by finding an algorithm-like policy that solves multiple instances of a task. A generalized plan can be learned from a few training examples and applied to an entire domain of problems.…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
A key challenge in robotics is the efficient generation of optimal robot motion with safety guarantees in cluttered environments. Recently, deterministic optimal sampling-based motion planners have been shown to achieve good performance…
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…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
In solid mechanics, Data-driven approaches are widely considered as the new paradigm that can overcome the classic problems of constitutive models such as limiting hypothesis, complexity, and high dependence on training data. However,…
Utilizing robotic systems in the construction industry is gaining popularity due to their build time, precision, and efficiency. In this paper, we introduce a system that allows the coordination of multiple manipulator robots for…
We present an efficient task and motion replanning approach for sequential multi-object manipulation in dynamic environments. Conventional Task And Motion Planning (TAMP) solvers experience an exponential increase in planning time as the…