Learning Contact-Based State Estimation for Assembly Tasks
Johannes Pankert,Marco Hutter,Johannes Pankert,Marco Hutter
Robotic object manipulation requires knowledge of the environment's state. In particular, the object poses of fixed elements in the environment relative to the robot and the in-hand poses of grasped objects are of interest. For insertion tasks with tight tolerances, the accuracy of vision systems to estimate the object and in-hand pose is not high enough. This work proposes a state estimation syst...
