Learning compliant box-in-box insertion through haptic-based robotic teleoperation

• Main Authors: Kana, Sreekanth, Gurnani, Juhi, Ramanathan, Vishal, Ariffin, Mohammad Zaidi, Turlapati, Sri Harsha, Campolo, Domenico
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2024
• Subjects: Engineering; Box-in-box insertion; Compliant insertion
• Online Access: https://hdl.handle.net/10356/173990
• Institution: Nanyang Technological University

In modern logistics, the box-in-box insertion task is representative of a wide range of packaging applications, and automating compliant object insertion is difficult due to challenges in modelling the object deformation during insertion. Using Learning from Demonstration (LfD) paradigms, which are...