From Documented Strengths to Force Limits: Material-Informed Robotic Insertion for Construction Assembly
Insertion is a fundamental operation in robotic construction assembly, where variations in material properties and assembly conditions make it difficult to select contact forces that complete the task without exceeding the assembly's capacity. Although construction documents encode engineering knowledge about materials and their conditions, translating this knowledge into load limits for a specific assembly remains difficult. This paper presents SAGE (Source-grounded Assembly Gating and Execution), a system that converts documented material evidence into capacity estimates for robotic insertion. SAGE restricts a large language model (LLM) to extracting tensile and compressive strengths fr...
| Authors | Lin He, Yanyi Chen, Haofei Sun et al. |
|---|---|
| Primary category | cs.RO |
| Published | 18 September 2026 |
| Last updated at source | 18 September 2026 |
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