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

翻译：本文研究利用乐高积木进行自动化原型制作。为满足个性化需求与自我可持续性，提出了一种从人类演示中学习组装与拆解序列的框架。此外，开发了数字孪生系统，在部署至真实环境前验证机器人学习的正确性。同时，设计了一种末端执行器工具（EOT），使大型工业机器人能够轻松操作乐高积木。所提系统已部署至FANUC LR-mate 200id/7L机器人。实验表明，该系统能从人类演示中有效学习组装与拆解任务，且学习到的任务可由FANUC机器人实现。