Learning-based Contact Status Recognition for Peg-in-Hole Assembly
Chaojie Yan,Jun Wu,Qiuguo Zhu,Chaojie Yan,Jun Wu,Qiuguo Zhu
Opening a lock without vision sensors remains a challenge for robots. Inspired by the ability of a human to open a lock through touch and intuition, a peg-in-hole assembly method for recognizing the relative position and inclination angle of a hole is proposed. We use supervised learning to generate a contact-state model to judge the relative contact state and introduce force control strategies th...
