Efficient planning of disassembly sequences in physics-based animation

We address the problem of disassembly planning from a novel perspective. In the proposed method the goal is to find all the physically admissible subassemblies in which a set of objects can be disassembled and to identify feasible disassembly motions. Stability of object configurations under the effect of gravity and friction is computed by relying on a physics-based animation engine. We propose efficient strategies to reduce computational time that take into account precedence relations, arising from user assembly demonstrations as well as geometrical clustering. We have also developed a motion planning technique for generating non-destructive disassembly paths on a query-based approach. Experiments have been performed in an interactive virtual environment including a dataglove that allows realistic object manipulation and grasping.