Affordance-Guided Enveloping Grasp Demonstration Toward Non-destructive Disassembly of Pinch-Infeasible Mating Parts

TL;DR

This paper introduces an affordance-guided teleoperation approach using physics simulation and visual augmentation to teach enveloping grasps for robotic disassembly, overcoming visual occlusion and geometric challenges.

Contribution

It presents a novel affordance template method that pre-generates grasp candidates and visualizes grasp quality to improve operator teaching in complex disassembly tasks.

Findings

Simulation results show generality across components

Visual augmentation improves grasp selection accuracy

Real-robot experiments validate effectiveness under constraints

Abstract

Robotic disassembly of complex mating components often renders pinch grasping infeasible, necessitating multi-fingered enveloping grasps. However, visual occlusions and geometric constraints complicate teaching appropriate grasp motions when relying solely on 2D camera feeds. To address this, we propose an affordance-guided teleoperation method that pre-generates enveloping grasp candidates via physics simulation. These Affordance Templates (ATs) are visualized with a color gradient reflecting grasp quality to augment operator perception. Simulations demonstrate the method's generality across various components. Real-robot experiments validate that AT-based visual augmentation enables operators to effectively select and teach enveloping grasp strategies for real-world disassembly, even under severe visual and geometric constraints.