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Robust, Compliant Assembly via Optimal Belief Space Planning
[article]
2018
arXiv
pre-print
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and non-linear contact-dynamics. Furthermore, object poses and model parameters, such as friction, are not exactly known and a source of uncertainty. The method proposed in this paper models the task of parts assembly as a belief space planning problem over an
arXiv:1811.03904v1
fatcat:stq5y5wpmvfbnai2v2wkhthz7e