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.
Contact mode guided motion planning for quasidynamic dexterous manipulation in 3d
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
citation-role summary
background 1
citation-polarity summary
fields
cs.RO 1years
2025 1verdicts
CONDITIONAL 1roles
background 1polarities
unclear 1representative citing papers
citing papers explorer
-
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.