Autonomous Robotic Disassembly.

This paper describes a fully-functional autonomous system with two cooperating robots that disassembles complex Duplo structures in a restricted environment. The system operates on a table-top world with any number of Duplo structures for which object models have been given. The structures are disassembled down to individual parts, using basic operations of single part removal, object partitioning, and the addition of stabilizing supports to structures that would otherwise fall over. All aspects are automatically planned, including operation selection, path and grasp planning, and cooperative simultaneous robot motion. Operations are chosen so as not to create unstable structures, and to not risk breakage in areas of low structural integrity. Overall planning is done with a process mechanism that heuristically generates efficient disassembly sequences, without searching a space of all possible operations. Several examples of actual system operation are presented.