Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments
Benjamin Alt,Darko Katic,Rainer Jäkel,Michael Beetz,Benjamin Alt,Darko Katic,Rainer Jäkel,Michael Beetz
In both industrial and service domains, a central benefit of the use of robots is their ability to quickly and reliably execute repetitive tasks. However, even relatively simple peg-in-hole tasks are typically subject to stochastic variations, requiring search motions to find relevant features such as holes. While search improves robustness, it comes at the cost of increased runtime: More exhausti...
