Affordance-Guided Enveloping Grasp Demonstration Toward Non-destructive Disassembly of Pinch-Infeasible Mating Parts
This addresses the challenge of non-destructive disassembly of complex mating parts in robotics, but it is incremental as it builds on existing teleoperation and simulation methods.
The paper tackled the problem of teaching multi-fingered enveloping grasps for robotic disassembly when pinch grasps are infeasible due to occlusions and constraints, and the result was that their affordance-guided teleoperation method enabled operators to effectively select and teach grasp strategies in real-robot experiments.
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.