Learning Robotic Assembly by Leveraging Physical Softness and Tactile Sensing
Joaquín Royo-Miquel,Masashi Hamaya,Cristian C. Beltran-Hernandez,Kazutoshi Tanaka,Joaquín Royo-Miquel,Masashi Hamaya,Cristian C. Beltran-Hernandez,Kazutoshi Tanaka
This study aims to achieve autonomous robotic assembly under uncertain conditions arising from imprecise goal positioning and variations in the angle of the grasped part. Soft robots are suitable for such uncertain and contact-rich environments and are capable of insertion tasks with imprecise goal positions. However, we may also struggle to handle further uncertainty, such as variations in graspi...
