A planning framework for robotic insertion tasks via hydroelastic contact model

• Main Authors: Yang, Lin, Mohammad Zaidi Ariffin, Lou, Baichuan, Lv, Chen, Campolo, Domenico
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Mechanical engineering; Peg-in-Hole Assembly; Motion Planning
• Online Access: https://hdl.handle.net/10356/171062
• Institution: Nanyang Technological University

Robotic contact-rich insertion tasks present a significant challenge for motion planning due to the complex force interaction between robots and objects. Although many learning-based methods have shown success in contact tasks, most methods need sampling or exploring to gather sufficient experimenta...