A Lightweight and Transferable Design for Robust LEGO Manipulation

arXiv:2309.02354v3 Announce Type: replace-cross
Abstract: Lego is a well-known platform for prototyping pixelized objects. However, robotic Lego prototyping (i.e., manipulating Lego bricks) is challenging due to the tight connections and accuracy requirements. This paper investigates safe and efficient robotic Lego manipulation. In particular, this paper reduces the complexity of the manipulation by hardware-software co-design. An end-of-arm tool (EOAT) is designed, which reduces the problem dimension and allows large industrial robots to manipulate small Lego bricks. In addition, this paper uses …

abstract accuracy arxiv complexity cs.lg cs.ne cs.ro design however lego manipulation objects paper platform prototyping requirements robotic robust safe type