{"ID":2884503,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.05937","arxiv_id":"2508.05937","title":"Affordance-Guided Dual-Armed Disassembly Teleoperation for Mating Parts","abstract":"Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables intuitive human demonstrations for dual-arm fix-and-disassemble tasks for mating parts. The system visualizes feasible grasp poses and disassembly directions in a virtual environment, both derived from the object's geometry, to address occlusions and structural complexity. To prevent excessive position tracking under load when following the affordance, we integrate a hybrid controller that combines position and impedance control into the teleoperated disassembly arm. Real-world experiments validate the effectiveness of the proposed system, showing improved task success rates and reduced object pose deviation.","short_abstract":"Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables intuitive human demonstrations for dual-arm fix-and-disassemble tasks for mating...","url_abs":"https://arxiv.org/abs/2508.05937","url_pdf":"https://arxiv.org/pdf/2508.05937v1","authors":"[\"Gen Sako\",\"Takuya Kiyokawa\",\"Kensuke Harada\",\"Tomoki Ishikura\",\"Naoya Miyaji\",\"Genichiro Matsuda\"]","published":"2025-08-08T02:03:12Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}