Contact Pose Identification for Peg-in-Hole Assembly under Uncertainties

Contact Pose Identification for Peg-in-Hole Assembly under Uncertainties

American Control Conference (ACC), 2021

29 January 2021

Masayoshi Tomizuka

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Papers citing "Contact Pose Identification for Peg-in-Hole Assembly under Uncertainties"

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Title
Learning the Contact Manifold for Accurate Pose Estimation During Peg-in-Hole Insertion of Complex Geometries Abhay Negi Omey M. Manyar Dhanush Kumar Varma Penmetsa Satyandra K. Gupta 150 1 0 25 May 2025
A General Peg-in-Hole Assembly Policy Based on Domain Randomized Reinforcement Learning Xinyu Liu Aljaz Kramberger Leon Bodenhagen 141 0 0 05 Apr 2025
Differentiable Contact Dynamics for Stable Object Placement Under Geometric UncertaintiesIEEE Robotics and Automation Letters (RA-L), 2024 Linfeng Li Gang Yang Lin Shao David Hsu 279 1 0 26 Sep 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under UncertaintyIEEE Robotics and Automation Letters (RA-L), 2024 Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 303 25 0 08 Aug 2024
Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection Xinghao Zhu Devesh K. Jha Diego Romeres Lingfeng Sun Masayoshi Tomizuka Anoop Cherian 143 11 0 17 Dec 2023
Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual LearningConference on Robot Learning (CoRL), 2023 Xiang Zhang Changhao Wang Lingfeng Sun Zheng Wu Xinghao Zhu Masayoshi Tomizuka OffRL 235 36 0 16 Oct 2023
Uncertain Pose Estimation during Contact Tasks using Differentiable Contact Features Jeongmin Lee Minji Lee Dongjun Lee 168 12 0 26 May 2023
A Learning-Based Estimation and Control Framework for Contact-Intensive Tight-Tolerance Tasks Bukun Son Hyelim Choi Jeamin Yoon Dongjun Lee 175 0 0 11 Oct 2022
CFVS: Coarse-to-Fine Visual Servoing for 6-DoF Object-Agnostic Peg-In-Hole AssemblyIEEE International Conference on Robotics and Automation (ICRA), 2022 B. Lu Tung-I Chen Hsin-Ying Lee Winston H. Hsu 181 13 0 19 Sep 2022
Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive UnitsIEEE International Conference on Robotics and Automation (ICRA), 2021 Shiyu Jin Diego Romeres Arvind Ragunathan Devesh K. Jha Masayoshi Tomizuka 182 28 0 02 Jun 2021