3 papers indexed
Dror Livnat, Michael M. Bilevich, Michal Kleinbort, Dan Halperin
Motion planning for rigid-body assembly poses a fundamental challenge in robotics due to tight geometric constraints. In such scenarios, feasible motions often require passing through (near-)zero clearance configurations in which the parts are tightly constrained by contact. In t…
Dror Livnat, Yuval Lavi, Michael M. Bilevich, Dan Halperin
We provide a novel end-to-end framework for the execution of an assembly operation by two robotic arms, given the digital CAD models of the parts and their desired relative placement in their assembled state. We analyze and demonstrate the advantages of using two robotic arms sim…
Michael M. Bilevich, Tomer Buber, Dan Halperin
Localization is a key task in robot navigation, and many techniques exist for it. In many plausible scenarios, a robot might face unforeseen, dynamic obstacles, rendering any pre-determined map inaccurate for localization. In this work, we propose a robust lifelong localization f…