Physics-Informed Learning to Enable Robotic Screw-Driving Under Hole Pose Uncertainties
Omey M. Manyar,Santosh V Narayan,Rohin Lengade,Satyandra K. Gupta,Omey M. Manyar,Santosh V Narayan,Rohin Lengade,Satyandra K. Gupta
Screw-driving is an important operation in numerous applications. In many situations, hole pose cannot be estimated very accurately. Autonomous screw-driving cannot be performed by traditional industrial manipulators in position control mode when the hole pose uncertainty is high. This paper presents a mobile manipulator system for performing autonomous screw-driving in the presence of uncertainti...
