Abstract-- Regrasping on fixtures is a promising approach to reduce pose uncertainty in robotic assembly, but conventional rigid fixtures lack adaptability and require dedicated designs for each part. T o overcome this limitation, we propose a soft jig inspired by the jamming transition phenomenon, which can be continuously deformed to accommodate diverse object geometries. By pressing a triangular-pyramid-shaped tool into the membrane and evacuating the enclosed air, a stable cavity is formed as a placement space. We further optimize the stamping depth to balance placement stability and gripper accessibility. In soft-jig-based regrasping, the key challenge lies in optimizing the cavity size to achieve precise dropping; once the part is reliably placed, subsequent grasping can be performed with reduced uncertainty. Accordingly, we conducted drop experiments on ten mechanical parts of varying shapes, which achieved placement success rates exceeding 80% for most objects and above 90% for cylindrical ones, while failures were mainly caused by geometric constraints and membrane properties. These results demonstrate that the proposed jig enables general-purpose, accurate, and repeatable regrasping, while also clarifying its current limitations and future potential as a practical alternative to rigid fixtures in assembly automation.

This study addresses a flexible holding tool for robotic disassembly. We propose a shell-type soft jig that securely and universally holds objects, mitigating the risk of component damage and adapting to diverse shapes while enabling soft fixation that is robust to recognition, planning, and control errors. The balloon-based holding mechanism ensures proper alignment and stable holding performance, thereby reducing the need for dedicated jig design, highly accurate perception, precise grasping, and finely tuned trajectory planning that are typically required with conventional fixtures. Our experimental results demonstrate the practical feasibility of the proposed jig through performance comparisons with a vise and a jamming-gripper-inspired soft jig. Tests on ten different objects further showed representative successes and failures, clarifying the jig's limitations and outlook.

We estimate the Kolmogorov complexity of melodies in Irish traditional dance music using Lempel-Ziv compression. The "tunes" of the music are presented in so-called "ABC notation" as simply a sequence of letters from an alphabet: We have no rhythmic variation, with all notes being of equal length. Our estimation of algorithmic complexity can be used to distinguish "simple" or "easy" tunes (with more repetition) from "difficult" ones (with less repetition) which should prove useful for students learning tunes. We further present a comparison of two tune categories (reels and jigs) in terms of their complexity.

Abstract-- To address the challenges associated with shape sensing of continuum manipulators (CMs) using Fiber Bragg Grating (FBG) optical fibers, we feature a unique shape sensing assembly utilizing solely a single Optical Frequency Domain Reflectometry (OFDR) fiber attached to a flat nitinol wire (NiTi). Integrating this easy-to-manufacture unique sensor with a long and soft CM with 170 mm length, we performed different experiments to evaluate its shape reconstruction ability. Results demonstrate phenomenal shape reconstruction accuracy for both C-shape (< 2 mm tip error, < 1.2 mm shape error) and J-shape (< 3.4 mm tip error, < 2.3 mm shape error) experiments. I. INTRODUCTION Instead of using rigid instrumentation in minimally invasive surgeries that limit access and dexterity of clinicians, continuum manipulators (CMs) have been proposed to provide more flexibility and access within confined and tortuous paths of anatomical spaces [1]. SSA. Figure also shows the SSA structure modeled as a composite Particularly, having an appropriate integrated sensing modality and pertinent algorithm to estimate their shape and end effector position at any time would be of Paramount importance for cannot completely address this poor accuracy and may increase the accurate control of these robots [1], [4].

Auto-Assembly: a framework for automated robotic assembly directly from CAD. Abstract--In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We show the flexibility of the approach by testing it on different input designs. Auto-Assembly consists of several parts: design analysis, assembly sequence generation, bill-of-process (BOP) generation, conversion of the BOP to control code, path planning, simulation, and execution of the control code to assemble parts in the physical environment. Assembly planning is one of the most laborious tasks Left: UR5e with a screwdriver Likratec EH2 R1030-when releasing a new product for manufacturing. Thus, many A and Right: UR5e with gripper Robotiq 2F-85 with custom algorithms and methods around computer-aided design (CAD) designed gripper clamps.