We present a survey of multi-robot assembly applications and methods and describe trends
and general insights into the multi-robot assembly problem for industrial applications. We …

Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a
difficult problem in robotics since its solution for a given target pose is not unique. Moreover …

In this paper, we consider reorienting 3D objects on a table using a two-finger pinch gripper.
Given the 3D mesh model of the object, our algorithm solves for the gripper motions that are …

Many robotic systems are comprised of two or more arms. Such systems range from dual-
arm household manipulators to factory floors populated with a multitude of industrial robotic …

Real time calculation of inverse kinematics (IK) with dynamically stable configuration is of
high necessity in humanoid robots as they are highly susceptible to lose balance. This paper …

The goal of this letter is to develop efficient regrasp algorithms for single-arm and dual-arm
regrasp and compares the performance of single-arm and dual-arm regrasp by running the …

Closed kinematic chains are created whenever multiple robot arms concurrently manipulate
a single object. The closed-chain constraint, when coupled with robot joint limits …

We present an optimization framework for grasp and motion planning in the context of
robotic assembly. Typically, grasping locations are provided by higher level planners or as …

This article develops a flexible and robust robotic system for autonomously drawing on 3-D
surfaces. The system takes 2-D drawing strokes and a 3-D target surface (mesh or point …

In this letter, we present a planning method considering regrasp and mobility for the
manipulation problem of a long deformable object in an industrial scenario. The object is …