Related papers: Accurate Pose Estimation Using Contact Manifold Sa…

Contact-rich assembly of complex, non-convex parts with tight tolerances remains a formidable challenge. Purely model-based methods struggle with discontinuous contact dynamics, while model-free methods require vast data and often lack…

Peg-in-hole assembly is a challenging contact-rich manipulation task. There is no general solution to identify the relative position and orientation between the peg and the hole. In this paper, we propose a novel method to classify the…

Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable…

The insertion of through-hole components is a difficult task. As the tolerances of the holes are very small, minor errors in the insertion will result in failures. These failures can damage components and will require manual intervention…

In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human behavior, we design architectures with position and orientation…

Reliable insertion of industrial connectors remains a central challenge in robotics, requiring sub-millimeter precision under uncertainty and often without full visual access. Vision-based approaches struggle with occlusion and limited…

Robust and adaptive robotic peg-in-hole assembly under tight tolerances is critical to various industrial applications. However, it remains an open challenge due to perceptual and physical uncertainties from contact-rich interactions that…

The study addresses the foundational and challenging task of peg-in-hole assembly in robotics, where misalignments caused by sensor inaccuracies and mechanical errors often result in insertion failures or jamming. This research introduces…

This paper uses robots to assemble pegs into holes on surfaces with different colors and textures. It especially targets at the problem of peg-in-hole assembly with initial position uncertainty. Two in-hand cameras and a force-torque sensor…

Manipulation tasks often require a robot to adjust its sensorimotor skills based on the state it finds itself in. Taking peg-in-hole as an example: once the peg is aligned with the hole, the robot should push the peg downwards. While high…

This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequency control signals than a rigid one. Previous studies often…

We propose a method that actively estimates contact location between a grasped rigid object and its environment and uses this as input to a peg-in-hole insertion policy. An estimation model and an active tactile feedback controller work…

In this paper, we present an overview of robotic peg-in-hole assembly and analyze two main strategies: contact model-based and contact model-free strategies. More specifically, we first introduce the contact model control approaches,…

This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured environments, we assume that there are uncertainties in…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

Cross-view Geo-localisation is typically performed at a coarse granularity, because densely sampled satellite image patches overlap heavily. This heavy overlap would make disambiguating patches very challenging. However, by opting for…

The development of a generic and effective force model for semi-automatic or manual virtual assembly with haptic support is not a trivial task, especially when the assembly constraints involve complex features of arbitrary shape. The…

In the industrial domain, the pose estimation of multiple texture-less shiny parts is a valuable but challenging task. In this particular scenario, it is impractical to utilize keypoints or other texture information because most of them are…

Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…

High precision assembly of mechanical parts requires accuracy exceeding the robot precision. Conventional part mating methods used in the current manufacturing requires tedious tuning of numerous parameters before deployment. We show how…