Integrating force-based manipulation primitives with deep visual servoing for robotic assembly
This paper explores the idea of combining Deep Learning-based Visual Servoing and dynamic sequences of force-based Manipulation Primitives for robotic assembly tasks. Most current peg-in-hole algorithms assume the initial peg pose is already aligned within a minute deviation range before a tight-cle...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/157880 |