Reducing Uncertainty in Pose Estimation under Complex Contacts via Force Forecast
Huitan Mao,Jing Xiao,Huitan Mao,Jing Xiao
How to reduce uncertainty in object pose estimation under complex contacts is crucial to autonomous robotic manipulation and assembly. In this paper, we introduce an approach through forecasting contact force from simulated complex contacts with calibration based on real force sensing. A constraint-based haptic simulation algorithm is used with sphere-tree representation of contacting objects to c...
