Robust, Locally Guided Peg-in-Hole using Impedance-Controlled Robots
Korbinian Nottensteiner,Freek Stulp,Alin Albu-Schäffer,Korbinian Nottensteiner,Freek Stulp,Alin Albu-Schäffer
We present an approach for the autonomous, robust execution of peg-in-hole assembly tasks. We build on a sampling-based state estimation framework, in which samples are weighted according to their consistency with the position and joint torque measurements. The key idea is to reuse these samples in a motion generation step, where they are assigned a second task-specific weight. The algorithm there...
