TY - GEN
T1 - A Full-Cycle Assembly Operation
T2 - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025
AU - Livnat, Dror
AU - Lavi, Yuval
AU - Halperin, Dan
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - 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 assembly plan-ning for free-flying objects and includes the following novel components: (i) the framework itself together with physical demon-strations, (ii) trajectory placement based on novel dynamic path-wise IK and (iii) post processing of the free-flying paths to relax the tightness and smooth the path. The framework provides guarantees as to the quality of the outcome trajectory. For each component we provide the algorithmic details and a full open-source software package for reproducing the process. Lastly, we demonstrate the framework with tight and challenging assembly problems (as well as puzzles, which are planned to be hard to assemble), using a UR5e robotic arm in the real world and in simulation. See the figure at the top for a physical UR5e assembling the alpha-z puzzle (known to be considerably more complicated to assemble than the celebrated alpha puzzle). Full video clips of all the assembly demonstrations together with our open source software are available at our project page: https://tau-cgl.github.io/Full-Cycle-Assembly-Operation/
AB - 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 assembly plan-ning for free-flying objects and includes the following novel components: (i) the framework itself together with physical demon-strations, (ii) trajectory placement based on novel dynamic path-wise IK and (iii) post processing of the free-flying paths to relax the tightness and smooth the path. The framework provides guarantees as to the quality of the outcome trajectory. For each component we provide the algorithmic details and a full open-source software package for reproducing the process. Lastly, we demonstrate the framework with tight and challenging assembly problems (as well as puzzles, which are planned to be hard to assemble), using a UR5e robotic arm in the real world and in simulation. See the figure at the top for a physical UR5e assembling the alpha-z puzzle (known to be considerably more complicated to assemble than the celebrated alpha puzzle). Full video clips of all the assembly demonstrations together with our open source software are available at our project page: https://tau-cgl.github.io/Full-Cycle-Assembly-Operation/
UR - https://www.scopus.com/pages/publications/105016706355
U2 - 10.1109/ICRA55743.2025.11128356
DO - 10.1109/ICRA55743.2025.11128356
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AN - SCOPUS:105016706355
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 9184
EP - 9191
BT - 2025 IEEE International Conference on Robotics and Automation, ICRA 2025
A2 - Ott, Christian
A2 - Admoni, Henny
A2 - Behnke, Sven
A2 - Bogdan, Stjepan
A2 - Bolopion, Aude
A2 - Choi, Youngjin
A2 - Ficuciello, Fanny
A2 - Gans, Nicholas
A2 - Gosselin, Clement
A2 - Harada, Kensuke
A2 - Kayacan, Erdal
A2 - Kim, H. Jin
A2 - Leutenegger, Stefan
A2 - Liu, Zhe
A2 - Maiolino, Perla
A2 - Marques, Lino
A2 - Matsubara, Takamitsu
A2 - Mavromatti, Anastasia
A2 - Minor, Mark
A2 - O'Kane, Jason
A2 - Park, Hae Won
A2 - Park, Hae-Won
A2 - Rekleitis, Ioannis
A2 - Renda, Federico
A2 - Ricci, Elisa
A2 - Riek, Laurel D.
A2 - Sabattini, Lorenzo
A2 - Shen, Shaojie
A2 - Sun, Yu
A2 - Wieber, Pierre-Brice
A2 - Yamane, Katsu
A2 - Yu, Jingjin
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 19 May 2025 through 23 May 2025
ER -