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This paper studies automatic prototyping using LEGO. To satisfy individualneeds and self-sustainability, this paper presents a framework that learns theassembly and disassembly sequences from human demonstrations. In addition, adigital twin is developed to verify the correctness of robot learning beforedeploying to the real world. Moreover, an end-effector tool (EOT) is designed,which allows large industrial robots to easily manipulate LEGO bricks. Theproposed system is deployed to a FANUC LR-mate 200id/7L robot. Experimentsdemonstrate that the proposed system can effectively learn the assembly anddisassembly tasks from human demonstrations. And the learned tasks are realizedby the FANUC robot.

Robotic LEGO Assembly and Disassembly from Human Demonstration