Precise Object Placement Using Force-Torque Feedback
<|reference_start|>Precise Object Placement Using Force-Torque Feedback: Precise object manipulation and placement is a common problem for household robots, surgery robots, and robots working on in-situ construction. Prior work using computer vision, depth sensors, and reinforcement learning lacks the ability to reactively recover from planning errors, execution errors, or sensor noise. This work introduces a method that uses force-torque sensing to robustly place objects in stable poses, even in adversarial environments. On 46 trials, our method finds success rates of 100% for basic stacking, and 17% for cases requiring adjustment.<|reference_end|>
@article{lerner2024precise,
    title={Precise Object Placement Using Force-Torque Feedback},
    author={Osher Lerner, Zachary Tam, Michael Equi},
    journal={arXiv preprint arXiv:2404.17668},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.17668},
    primaryClass={cs.RO}
}