1. Algorithmic Robotics and Motion Planning Dan Halperin Tel Aviv University Fall 2006/7 Assembly planning

2. Assembly maintainability Chang & Li, ‘95

3. Algorithmic robotics, automation assembly planning  Movable separability  Assembly planning with two hands  Motion space [Snoeyink-Stolfi 93]

4. Cannot be talek apart, I: translation

5. Cannot be talek apart, II: translation+rotation

7. video clips

8. Monotonicity

9. DBG

10. One-step translation

11. Contacts

12. Interference diagram

13. The DBG of a path

14. Two step translation

15. Infinitesimal partition

16. Puzzle

18. 3-part assembly

21. SS-6

22. SS-6, DBG ’ s

23. SS-30, verified under trans

24. Engine

25. Engine, DBG ’ s

26. Summary table

27. THE END