Interpreting Contact Interactions to Overcome Failure in Robot Assembly Tasks
Peter A. Zachares Michelle A. Lee Wenzhao Lian Jeannette Bohg Peter A. Zachares Michelle A. Lee Wenzhao Lian Jeannette Bohg
A key challenge towards autonomous multi-part object assembly is robust sensorimotor control under uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to learn this through physical interaction. We propose a hierarchical approach that enables a robot to autonomously assemble parts while being uncertain about part types and positions. In par...