A Modular Dual-Arm Robotic Cell for Disassembly and Repair of Industrial Control Electronics

arXiv:2609.27466 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Behavior Tree — 16× in this paper
• Verification — 13× in this paper · explained in 2 episodes
• Adaptation — 4× in this paper · explained in 1 episode
• Adaptive Compliance Policy — 3× in this paper
• Digital Twin — 3× in this paper · explained in 5 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Robot Operating System — 2× in this paper
• Trace — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Disassembly Sequence Planning — 1× in this paper
• Grounding — 1× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• Synthetic Data Generation — 1× in this paper · explained in 5 episodes
• Waste Electrical and Electronic Equipment — 1× in this paper

Sources

• Graph-Based Adaptive Planning for Coordinated Dual-Arm Robotic Disassembly of Electronic Devices (eGRAP)
• Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

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