From MoleMOD to MoleSTRING Design of self-assembly structures actuated by shareable soft robots

Petrš, Jan

doi:10.5151/proceedings-ecaadesigradi2019_467

Cited by 3 publications

(4 citation statements)

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“…The use of robotics in the construction of buildings takes special importance whenever there is a shortage of skilled workers due to e.g. an aging population, and manifests its advantages as higher speed and lower CO 2 emission [8], as well as higher safety and less energy consumption than manual operations [9]. It could accelerate the process by about 5 times, compared to the case where the task is performed manually.…”

Section: B Automatizing Sequence Planningmentioning

confidence: 99%

“…In fact, utilizing CNNs obviates the necessity of performing simulation for all of the planned motions, which takes an order of magnitude longer, by mapping each motion to a robustness score, based on a pair of images of the subassemblies before and after they are mated [58]. Intractable expansion of assembly relations and sparse rewards are among the known challenges associated with the use of Deep Reinforcement Learning 9 for ASP, which may be alleviated through employing parameter transfer and curriculum learning [60]. For example, the application of human-robot interaction in RAD is demonstrated by the the Form2Fit system, which involves robot learning to assemble a kit from a demonstration of its disassembly.…”

Section: Learning Assembly Sequence Planningmentioning

confidence: 99%

“…A special type of neural networks which have convolutions instead of matrix multiplications within at least one of their layers[126],[127] 9. A machine learning strategy taking simultaneous advantage of reinforcement learning and deep learning, where the former concerns the ability of a computational agent to learn how to make decisions through trial and error, i.e.…”

mentioning

confidence: 99%

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Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Daneshmand¹,

Noroozi²,

Corneanu³

et al. 2021

Preprint

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Despite their contributions to the financial efficiency and environmental sustainability of industrial processes, robotic assembly and disassembly have been understudied in the existing literature. This is in contradiction to their importance in realizing the Fourth Industrial Revolution. More specifically, although most of the literature has extensively discussed how to optimally assemble or disassemble given products, the role of other factors has been overlooked. For example, the types of robots involved in implementing the sequence plans, which should ideally be taken into account throughout the whole chain consisting of design, assembly, disassembly and reassembly. Isolating the foregoing operations from the rest of the components of the relevant ecosystems may lead to erroneous inferences toward both the necessity and efficiency of the underlying procedures. In this paper we try to alleviate these shortcomings by comprehensively investigating the state-of-the-art in robotic assembly and disassembly. We consider and review various aspects of manufacturing and remanufacturing frameworks while particularly focusing on their desirability for supporting a circular economy.

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Section: B Automatizing Sequence Planningmentioning

confidence: 99%

Section: Learning Assembly Sequence Planningmentioning

confidence: 99%

mentioning

confidence: 99%

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Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Daneshmand¹,

Noroozi²,

Corneanu³

et al. 2021

Preprint

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show abstract

“…Iteration is usually slow, costly, and reserved for engineering disciplines. Innovations in the production of electromechanical components from the meter to the millimeter-scale have expanded the scale at which functional ambulatory robots are produced, 1,2 but these examples remain accessible only to specialized fields.…”

Section: Introductionmentioning

confidence: 99%

CREASE: Synchronous gait by minimizing actuation through folded geometry

Mesa

Mhatre

Aukes

2020

International Journal of Architectural Computing

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The Age of the Fourth Industrial Revolution promises the integration and synergy of disciplines to arrive at meaningful and comprehensive solutions. As computation and fabrication methods become pervasive, they present platforms for communication. Value exists in diverse disciplines bringing their approach to a common conversation, proposing demands, and potentials in response to entrenched challenges. Robotics has expanded recently as computational analysis, and digital fabrication methods are more accurate and reliable. Advances in functional microelectromechanical components have resulted in the design of new robots presenting alternatives to traditional ambulatory robots. However, most examples are the result of intense computational analysis necessitating engineering expertise and specialized manufacturing. Accessible fabrication methods like laminate techniques propose alternatives to new robot morphologies. However, most examples remain overly actuated without harnessing the full potential of folds for locomotion. Our research explores the connection between origami structures and kinematics for the generation of an ambulatory robot presenting efficient, controlled, and graceful gait with minimal use of components. Our robot ‘Crease’ achieves complex gait by harnessing kinematic origami chains rather than relying on motors. Minimal actuation activates the folds to produce variations in walk and direction. Integrating a physical iterative process with computational analysis, several prototypes were generated at different scales, including untethered ones with sensing and steering that could map their environment. Furthering the dialogue between disciplines, this research contributes not only to the field of robotics but also architectural design, where efficiency, adjustability, and ease of fabrication are critical in designing kinetic elements.

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Industry 4.0 and prospects of circular economy: a survey of robotic assembly and disassembly

Daneshmand

Noroozi

Corneanu³

et al. 2022

Int J Adv Manuf Technol

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From MoleMOD to MoleSTRING Design of self-assembly structures actuated by shareable soft robots

Cited by 3 publications

References 0 publications

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

Industry 4.0 and Prospects of Circular Economy: A Survey of Robotic Assembly and Disassembly

CREASE: Synchronous gait by minimizing actuation through folded geometry

Industry 4.0 and prospects of circular economy: a survey of robotic assembly and disassembly

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