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Physics-based virtual reality for task learning and intelligent disassembly planning

Authors:

Jacopo Aleotti,

Stefano CaselliAuthors Info & Claims

Virtual Reality, Volume 15, Issue 1

Pages 41 - 54

Published: 01 March 2011 Publication History

Abstract

Physics-based simulation is increasingly important in virtual manufacturing for product assembly and disassembly operations. This work explores potential benefits of physics-based modeling for automatic learning of assembly tasks and for intelligent disassembly planning in desktop virtual reality. The paper shows how realistic physical animation of manipulation tasks can be exploited for learning sequential constraints from user demonstrations. In particular, a method is proposed where information about physical interaction is used to discover task precedences and to reason about task similarities. A second contribution of the paper is the application of physics-based modeling to the problem of disassembly sequence planning. A novel approach is described to find all physically admissible subassemblies in which a set of rigid objects can be disassembled. Moreover, efficient strategies are presented aimed at reducing the computational time required for automatic disassembly planning. The proposed strategies take into account precedence relations arising from user assembly demonstrations as well as geometrical clustering. A motion planning technique has also been developed to generate non-destructive disassembly paths in a query-based approach. Experiments have been performed in an interactive virtual environment including a dataglove and motion tracker that allows realistic object manipulation and grasping.

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Cited By

Ebinger TKaden SThomas SAndre RAmato NThomas U(2018)A General and Flexible Search Framework for Disassembly Planning2018 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA.2018.8460483(1-8)Online publication date: 21-May-2018
https://dl.acm.org/doi/10.1109/ICRA.2018.8460483
Gonzalez-Badillo GI. Medellin-Castillo HLim TM. Ritchie JC.W. Sung RGarbaya S(2014)A new methodology to evaluate the performance of physics simulation engines in haptic virtual assemblyAssembly Automation10.1108/AA-05-2013-04634:2(128-140)Online publication date: 1-Apr-2014
https://dl.acm.org/doi/10.1108/AA-05-2013-046
Chapoulie EMarchal MDimara ERoussou MLombardo JDrettakis G(2014)Evaluation of direct manipulation using finger tracking for complex tasks in an immersive cubeVirtual Reality10.1007/s10055-014-0246-018:3(203-217)Online publication date: 1-Sep-2014
https://dl.acm.org/doi/10.1007/s10055-014-0246-0

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Published In

cover image Virtual Reality

Virtual Reality Volume 15, Issue 1

March 2011

94 pages

ISSN:1359-4338

EISSN:1434-9957

Issue’s Table of Contents

Copyright © Copyright © 2011 Springer-Verlag London Limited.

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Springer-Verlag

Berlin, Heidelberg

Publication History

Published: 01 March 2011

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Cited By

Ebinger TKaden SThomas SAndre RAmato NThomas U(2018)A General and Flexible Search Framework for Disassembly Planning2018 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA.2018.8460483(1-8)Online publication date: 21-May-2018
https://dl.acm.org/doi/10.1109/ICRA.2018.8460483
Gonzalez-Badillo GI. Medellin-Castillo HLim TM. Ritchie JC.W. Sung RGarbaya S(2014)A new methodology to evaluate the performance of physics simulation engines in haptic virtual assemblyAssembly Automation10.1108/AA-05-2013-04634:2(128-140)Online publication date: 1-Apr-2014
https://dl.acm.org/doi/10.1108/AA-05-2013-046
Chapoulie EMarchal MDimara ERoussou MLombardo JDrettakis G(2014)Evaluation of direct manipulation using finger tracking for complex tasks in an immersive cubeVirtual Reality10.1007/s10055-014-0246-018:3(203-217)Online publication date: 1-Sep-2014
https://dl.acm.org/doi/10.1007/s10055-014-0246-0

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