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To generate easy-to-handle manipulation tasks and motion sequences for robotic assembly/disassembly, we proposed a many-objective genetic algorithm to balance several objective functions regarding constraints on part geometries, robotic grasping, and manipulation tasks. In the proposed simulation method, the necessary constraints can be automatically obtained by processing a 3D computer-aided design (CAD) model of the target product. The experiments demonstrated the efficacy of the algorithm from several perspectives.

CAD-Based Robotic Assembly/Disassembly Planning
Prof. Takuya Kiyokawa (Osaka University) | TUM-Robotics Talks | 21. February 2023, 10:00 – 11:00 CET

Location: M001, Georg-Brauchle-Ring 50_66(2940), Erdgeschoß. See map

Takuya Kiyokawa

Assistant Professor at Harada Laboratory of Osaka University in Japan

His major research interest is long-horizon manipulation sequence planning that takes robot task and motion planning into account.
Recently, his research has been related to working intelligence for manipulation robots performing housework, assembly, disassembly, sorting, display, and so on.

TUM-Robotics Talks is an initiative of the Munich Institute of Robotics and Machine Intelligence (MIRMI) where international experts and pioneers in the field of Robotics and Machine Intelligence present their research.

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