Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Planning to Build Soma Blocks Using a Dual-arm Robot   This paper presents a planner that can automatically find an optimal assembly
sequence for a dual-arm robot to assemble the soma blocks. The planner uses the
mesh model of objects and the final state of the assembly to generate all
possible assembly sequence and evaluate the optimal assembly sequence by
considering the stability, graspability, assemblability, as well as the need
for a second arm. Especially, the need for a second arm is considered when
supports from worktables and other workpieces are not enough to produce a
stable assembly. The planner will refer to an assisting grasp to additionally
hold and support the unstable components so that the robot can further assemble
new workpieces and finally reach a stable state. The output of the planner is
the optimal assembly orders, candidate grasps, assembly directions, and the
assisting grasps if any. The output of the planner can be used to guide a
dual-arm robot to perform the assembly task. The planner is verified in both
simulations and real-world executions.

15
The categories of this paper are: nucl-ex
10
The categories of this paper are: q-bio
3
The categories of this paper are: physics
8
The categories of this paper are: hep-ex
24
The categories of this paper are: dg-ga
34
The categories of this paper are: chem-ph
7
The categories of this paper are: hep-th
26
The categories of this paper are: bayes-an
16
The categories of this paper are: stat
33
The categories of this paper are: plasm-ph
23
The categories of this paper are: solv-int
18
The categories of this paper are: econ
19
The categories of this paper are: eess
25
The categories of this paper are: patt-sol
12
The categories of this paper are: nucl-th
30
The categories of this paper are: q-alg