Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion

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. T...

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Bibliographische Detailangaben

Hauptverfasser:	Kim, Sangwoon, Rodriguez, Alberto
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics
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