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arXiv · 2603.21143

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

Masaki Tsutsumi·Takuya Kiyokawa·Gen Sako·Kensuke Harada
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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.

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Masaki Tsutsumi, Takuya Kiyokawa, Gen Sako, Kensuke Harada. 2026-03-22. Affordance-Guided Enveloping Grasp Demonstration Toward Non-destructive Disassembly of Pinch-Infeasible Mating Parts. https://arxiv.org/abs/2603.21143

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