  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.
