Affordance-Guided Dual-Armed Disassembly Teleoperation for Mating Parts
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arXiv
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| Auteurs principaux: | , , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866916887213899776 |
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| author | Sako, Gen Kiyokawa, Takuya Harada, Kensuke Ishikura, Tomoki Miyaji, Naoya Matsuda, Genichiro |
| author_facet | Sako, Gen Kiyokawa, Takuya Harada, Kensuke Ishikura, Tomoki Miyaji, Naoya Matsuda, Genichiro |
| contents | Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables intuitive human demonstrations for dual-arm fix-and-disassemble tasks for mating parts. The system visualizes feasible grasp poses and disassembly directions in a virtual environment, both derived from the object's geometry, to address occlusions and structural complexity. To prevent excessive position tracking under load when following the affordance, we integrate a hybrid controller that combines position and impedance control into the teleoperated disassembly arm. Real-world experiments validate the effectiveness of the proposed system, showing improved task success rates and reduced object pose deviation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_05937 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Affordance-Guided Dual-Armed Disassembly Teleoperation for Mating Parts Sako, Gen Kiyokawa, Takuya Harada, Kensuke Ishikura, Tomoki Miyaji, Naoya Matsuda, Genichiro Robotics Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables intuitive human demonstrations for dual-arm fix-and-disassemble tasks for mating parts. The system visualizes feasible grasp poses and disassembly directions in a virtual environment, both derived from the object's geometry, to address occlusions and structural complexity. To prevent excessive position tracking under load when following the affordance, we integrate a hybrid controller that combines position and impedance control into the teleoperated disassembly arm. Real-world experiments validate the effectiveness of the proposed system, showing improved task success rates and reduced object pose deviation. |
| title | Affordance-Guided Dual-Armed Disassembly Teleoperation for Mating Parts |
| topic | Robotics |
| url | https://arxiv.org/abs/2508.05937 |