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Search: authors:"Eiichi Yoshida"

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Human-based framework for the assembly of elastic objects by a dual-arm robot

This paper proposes a new framework for planning assembly tasks involving elastic parts. As an example of these kind of assembly tasks, we deal with the insertion of ring-shaped objects into a cylinder by a dual-arm robot. The proposed framework is a combination of human movements to determine the overall assembly strategy and an optimization-based motion planner to generate the...