Kun Qian

Jamming-free reliable peg-in-hole assembly with unknown in-hand pose using visuotactile sensing

This paper aims to propose a robust, jamming-free peg-in-hole assembly control method for complex components, such as threaded screws, in unstructured environments using visuotactile sensing. The approach introduces high-precision pose pre-alignment by performing joint estimation of the peg’s angle and offse...