基于人类演示的机器人乐高装配与拆卸
Robotic LEGO Assembly and Disassembly from Human Demonstration
AI总结：
本文提出从人类演示中学习乐高装配与拆卸序列的框架，结合数字孪生验证和专用末端执行器工具，并在FANUC机器人上验证了任务学习与执行的有效性。
摘要：
本文研究使用乐高进行自动原型构建。为满足个性化需求和自可持续性，本文提出一个框架，从人类演示中学习装配和拆卸序列。此外，开发了一个数字孪生，用于在部署到真实世界之前验证机器人学习的正确性。还设计了一种末端执行器工具（EOT），使大型工业机器人能够轻松操作乐高积木。所提出的系统部署到一台FANUC LR-mate 200id/7L机器人上。实验表明，所提出的系统能够有效地从人类演示中学习装配和拆卸任务，并且学习到的任务由FANUC机器人实现。
英文摘要：
This paper studies automatic prototyping using LEGO. To satisfy individual needs and self-sustainability, this paper presents a framework that learns the assembly and disassembly sequences from human demonstrations. In addition, a digital twin is developed to verify the correctness of robot learning before deploying to the real world. Moreover, an end-effector tool (EOT) is designed, which allows large industrial robots to easily manipulate LEGO bricks. The proposed system is deployed to a FANUC LR-mate 200id/7L robot. Experiments demonstrate that the proposed system can effectively learn the assembly and disassembly tasks from human demonstrations. And the learned tasks are realized by the FANUC robot.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
