ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility
Yunsheng Tian,Karl D. D. Willis,Bassel Al Omari,Jieliang Luo,Pingchuan Ma,Yichen Li,Farhad Javid,Edward Gu,Joshua Jacob,Shinjiro Sueda,Hui Li,Sachin Chitta,Wojciech Matusik,Yunsheng Tian,Karl D. D. Willis,Bassel Al Omari,Jieliang Luo,Pingchuan Ma,Yichen Li,Farhad Javid,Edward Gu,Joshua Jacob,Shinjiro Sueda,Hui Li,Sachin Chitta,Wojciech Matusik
The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper, we present ASAP, a physics-based planning approach for automatically generating such a sequence for general-shaped assemblies. ASAP accounts for gravity to design a sequence where each sub-assembly is physically stable...
