Tootfinder

Affordance-Guided Dual-Armed Disassembly Teleoperation for Mating Parts
Gen Sako, Takuya Kiyokawa, Kensuke Harada, Tomoki Ishikura, Naoya Miyaji, Genichiro Matsuda
https://arxiv.org/abs/2508.05937

Affordance-Guided Dual-Armed Disassembly Teleoperation for Mating Parts
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables intuitive human demonstrations for dual-arm fix-and-disassemble tasks for mating parts. The system visualizes feasible grasp poses and disassembly directions in a virtual environment, both derived from the object's geometry, to address occlusions and structur…