Author

Hua-Peng Su

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Preprint Sep 2026

WRAP: Fixtureless Wrench-aware Multi-Robot Assembly Planning

Wrap is presented, a multi-robot assembly planner for multi-part assemblies, given the inter-part ordering-dependencies, the part meshes, and their initial state, and a linear program is formulated to reason about valid grasps for supporting the forces that occur during assembly.

V. N. Hartmann, Hua-Peng Su, Yi-Jiang Huang et al. · 0 citations