Related papers: Auto-Assembly: a framework for automated robotic a…
Robotic assembly is one of the oldest and most challenging applications of robotics. In other areas of robotics, such as perception and grasping, simulation has rapidly accelerated research progress, particularly when combined with modern…
To adhere to the stringent time and budget requirements of construction projects, contractors are utilizing prefabricated construction methods to expedite the construction process. Prefabricated construction methods require an adequate…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…
We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…
We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…
Algorithmic self-assembly, a generalization of crystal growth processes, has been proposed as a mechanism for autonomous DNA computation and for bottom-up fabrication of complex nanostructures. A `program' for growing a desired structure…
Computer-aided design (CAD) models play a crucial role in the design, manufacturing and maintenance of products. Therefore, the mesh-based finite element descriptions common in structural optimisation must be first translated into CAD…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
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.…
Collaborative robots are increasingly popular for assisting humans at work and daily tasks. However, designing and setting up interfaces for human-robot collaboration is challenging, requiring the integration of multiple components, from…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
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.…
Recent technological innovations in the areas of additive manufacturing and collaborative robotics have paved the way toward realizing the concept of on-demand, personalized production on the shop floor. Additive manufacturing process can…
Robotic assembly tasks involve complex and low-clearance insertion trajectories with varying contact forces at different stages. While the nominal motion trajectory can be easily obtained from human demonstrations through kinesthetic…
Robotic peg-in-hole assembly represents a critical area of investigation in robotic automation. The fusion of reinforcement learning (RL) and deep neural networks (DNNs) has yielded remarkable breakthroughs in this field. However, existing…
Despite the widespread adoption of industrial robots in automotive assembly, wire harness installation remains a largely manual process, as it requires precise and flexible manipulation. To address this challenge, we design a novel AI-based…
Machine-part cell formation is used in cellular manufacturing in order to process a large variety, quality, lower work in process levels, reducing manufacturing lead-time and customer response time while retaining flexibility for new…
The tolerancing process links the virtual and the real worlds. From the former, tolerances define a variational geometrical language (geometric parameters). From the latter, there are values limiting those parameters. The beginning of a…
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…