发表机构
Blavatnik School of Computer Science and Artificial Intelligence, Tel-Aviv University（特拉维夫大学布拉瓦特尼克计算机科学与人工智能学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对两个机器人手臂执行装配操作给出端到端框架，分析两臂同时操作优势，方法在模拟和实际机器人中实现，能减少执行时间、提升轨迹质量、加速搜索有效放置，还确定了机器人工作单元尺寸界限。
AI 中文摘要
我们提供了一个新颖的端到端框架，用于在给定零件的数字 CAD 模型及其在装配状态下的期望相对位置时，由两个机器人手臂执行装配操作。我们分析并证明了在紧密装配操作中同时使用两个机器人手臂相对于单臂系统的优势。我们的方法在模拟和实际机器人中都有实现。它在执行时间和轨迹精度方面提供了理论保证，并得到了经验证据的支持。特别是，我们表明两个手臂的协调运动与仅使用单个手臂相比，平均执行时间减少了 50%以上，产生了更高质量的轨迹，并加速了有效机器人放置的搜索。此外，我们还确定了机器人工作单元所需尺寸的界限。我们的开源软件以及实际视频演示可在我们的项目页面上获得。
英文摘要
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 assembly operations, compared to single-arm systems. Our method is implemented in both simulation and using physical robots. It provides theoretical guarantees on execution time and trajectory accuracy, supported by empirical evidence. In particular, we show that coordinated movement of two arms reduces average execution time by more than 50% compared to using a single arm only, produces higher-quality trajectories, and accelerates the search for valid robot placements. Furthermore, we establish bounds on the required dimensions of the robotic cell. Our open source software together with real-life video demonstrations are available in our project page.
CommentsAppeared in the 2026 IEEE International Conference on Robotics and Automation (ICRA)
