3 accepted papers
We provide a novel end-to-end framework for the execution of an assembly operation by two robotic arms, given the digital CAD models of the parts and their desired relative placement in their assembled state. We analyze and demonstrate the advantages of using two robotic arms simultaneously in tight…
We present an end-to-end framework for planning tight assembly operations, where the input is a set of digital models, and the output is a full execution plan for a physical robotic arm, including the trajectory placement and the grasping. The framework builds on our earlier results on tight assembl
We address a challenging problem in motion planning where robots must navigate through narrow passages in their configuration space. Our novel approach leverages optimization techniques to facilitate sliding and rolling movements across critical regions, which represent semi-free configurations, whe…