Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion
Sangwoon Kim,Alberto Rodriguez,Sangwoon Kim,Alberto Rodriguez
We propose a method that actively estimates contact location between a grasped rigid object and its environment and uses this as input to a peg-in-hole insertion policy. An estimation model and an active tactile feedback controller work collaboratively to estimate the external contacts accurately. The controller helps the estimation model get a better estimate by regulating a consistent contact mo...
