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arXiv · 2408.12593

Automating Deformable Gasket Assembly

Simeon Adebola·Tara Sadjadpour·Karim El-Refai·Will Panitch·Zehan Ma·Roy Lin·Tianshuang Qiu·Shreya Ganti·Charlotte Le·Jaimyn Drake·Ken Goldberg
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Abstract

In Gasket Assembly, a deformable gasket must be aligned and pressed into a narrow channel. This task is common for sealing surfaces in the manufacturing of automobiles, appliances, electronics, and other products. Gasket Assembly is a long-horizon, high-precision task and the gasket must align with the channel and be fully pressed in to achieve a secure fit. To compare approaches, we present 4 methods for Gasket Assembly: one policy from deep imitation learning and three procedural algorithms. We evaluate these methods with 100 physical trials. Results suggest that the Binary+ algorithm succeeds in 10/10 on the straight channel whereas the learned policy based on 250 human teleoperated demonstrations succeeds in 8/10 trials and is significantly slower. Code, CAD models, videos, and data can be found at https://berkeleyautomation.github.io/robot-gasket/

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Simeon Adebola, Tara Sadjadpour, Karim El-Refai, Will Panitch, Zehan Ma, Roy Lin, Tianshuang Qiu, Shreya Ganti, Charlotte Le, Jaimyn Drake, Ken Goldberg. 2024-08-22. Automating Deformable Gasket Assembly. https://arxiv.org/abs/2408.12593

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