StableLego: Stability Analysis of Block Stacking Assembly
CoRR(2024)
摘要
Recent advancements in robotics enable robots to accomplish complex assembly
tasks. However, designing an assembly requires a non-trivial effort since a
slight variation in the design could significantly affect the task feasibility.
It is critical to ensure the physical feasibility of the assembly design so
that the assembly task can be successfully executed. To address the challenge,
this paper studies the physical stability of assembly structures, in
particular, block stacking assembly, where people use cubic blocks to build 3D
structures (e.g., Lego constructions). The paper proposes a new optimization
formulation, which optimizes over force balancing equations, for inferring the
structural stability of 3D block-stacking structures. The proposed stability
analysis is tested and verified on hand-crafted Lego examples. The experiment
results demonstrate that the proposed stability analysis can correctly predict
whether the structure is stable. In addition, it outperforms the existing
methods since it can locate the weakest parts in the design, and more
importantly, solve any given assembly structure. To further validate the
proposed analysis formulation, we provide StableLego: a comprehensive dataset
including more than 50k 3D objects with their Lego layouts. We test the
proposed stability analysis and include the stability inference for each
corresponding object in StableLego. Our code and the dataset are available at
https://github.com/intelligent-control-lab/StableLego.
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