Affordance-Guided Enveloping Grasp Demonstration Toward Non-destructive Disassembly of Pinch-Infeasible Mating Parts
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866914413564395520 |
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| author | Tsutsumi, Masaki Kiyokawa, Takuya Sako, Gen Harada, Kensuke |
| author_facet | Tsutsumi, Masaki Kiyokawa, Takuya Sako, Gen Harada, Kensuke |
| contents | Robotic disassembly of complex mating components often renders pinch grasping infeasible, necessitating multi-fingered enveloping grasps. However, visual occlusions and geometric constraints complicate teaching appropriate grasp motions when relying solely on 2D camera feeds. To address this, we propose an affordance-guided teleoperation method that pre-generates enveloping grasp candidates via physics simulation. These Affordance Templates (ATs) are visualized with a color gradient reflecting grasp quality to augment operator perception. Simulations demonstrate the method's generality across various components. Real-robot experiments validate that AT-based visual augmentation enables operators to effectively select and teach enveloping grasp strategies for real-world disassembly, even under severe visual and geometric constraints. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_21143 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Affordance-Guided Enveloping Grasp Demonstration Toward Non-destructive Disassembly of Pinch-Infeasible Mating Parts Tsutsumi, Masaki Kiyokawa, Takuya Sako, Gen Harada, Kensuke Robotics Robotic disassembly of complex mating components often renders pinch grasping infeasible, necessitating multi-fingered enveloping grasps. However, visual occlusions and geometric constraints complicate teaching appropriate grasp motions when relying solely on 2D camera feeds. To address this, we propose an affordance-guided teleoperation method that pre-generates enveloping grasp candidates via physics simulation. These Affordance Templates (ATs) are visualized with a color gradient reflecting grasp quality to augment operator perception. Simulations demonstrate the method's generality across various components. Real-robot experiments validate that AT-based visual augmentation enables operators to effectively select and teach enveloping grasp strategies for real-world disassembly, even under severe visual and geometric constraints. |
| title | Affordance-Guided Enveloping Grasp Demonstration Toward Non-destructive Disassembly of Pinch-Infeasible Mating Parts |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.21143 |