A vision-free, learning-free compliant manipulation system performs peg-in-hole insertion at clearances tighter than the robot's own precision, formalized as composed manipulation funnels that shrink perception and execution uncertainty through contact.
Surprisingly Robust In-Hand Manipula- tion: An Empirical Study
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Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation
A vision-free, learning-free compliant manipulation system performs peg-in-hole insertion at clearances tighter than the robot's own precision, formalized as composed manipulation funnels that shrink perception and execution uncertainty through contact.