Related papers: Robotic LEGO Assembly and Disassembly from Human D…
Recent advancements in manufacturing have a growing demand for fast, automatic prototyping (i.e. assembly and disassembly) capabilities to meet users' needs. This paper studies automatic rapid LEGO prototyping, which is devoted to…
Lego is a well-known platform for prototyping pixelized objects. However, robotic Lego prototyping (i.e., manipulating Lego bricks) is challenging due to the tight connections and accuracy requirements. This paper investigates safe and…
This paper shows the potential of a Lego\c{opyright} based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall setup aims to explain mobile robotic issues strongly related…
Structural understanding of complex visual objects is an important unsolved component of artificial intelligence. To study this, we develop a new technique for the recently proposed Break-and-Make problem in LTRON where an agent must learn…
Generative models are now used to create a variety of high-quality digital artifacts. Yet their use in designing physical objects has received far less attention. In this paper, we advocate for the construction toy, LEGO, as a platform for…
Visual understanding of geometric structures with complex spatial relationships is a fundamental component of human intelligence. As children, we learn how to reason about structure not only from observation, but also by interacting with…
This paper presents a novel autonomous robotic assembly framework for constructing stable structures without relying on predefined architectural blueprints. Instead of following fixed plans, construction tasks are defined through targets…
We introduce a method to automatically compute LEGO Technic models from user input sketches, optionally with motion annotations. The generated models resemble the input sketches with coherently-connected bricks and simple layouts, while…
In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We…
In this work, motivated by recent manufacturing trends, we investigate autonomous robotic assembly. Industrial assembly tasks require contact-rich manipulation skills, which are challenging to acquire using classical control and motion…
Recent advances in augmented reality (AR) have enabled interactive systems that assist users in physical assembly tasks. In this paper, we present an AR-assisted assembly workflow that leverages object recognition and hand tracking to (1)…
Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and cluttered environment. Conventional global or wrist-mounted…
We study the problem of translating an image-based, step-by-step assembly manual created by human designers into machine-interpretable instructions. We formulate this problem as a sequential prediction task: at each step, our model reads…
Many high precision (dis)assembly tasks are still being performed by humans, whereas this is an ideal opportunity for automation. This paper provides a framework which enables a non-expert human operator to teach a robotic arm to do complex…
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…
The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
A critical goal in robotics and autonomy is to teach robots to adapt to real-world collaborative tasks, particularly in automatic assembly. The ability of a robot to understand the original intent of an incomplete assembly and complete…
Learning from demonstration (LfD) provides a fast, intuitive and efficient framework to program robot skills, which has gained growing interest both in research and industrial applications. Most complex manipulation tasks are long-term and…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…