4 papers
Learning Object Manipulation With Under-Actuated Impulse Generator Arrays
Chuizheng Kong, William Yerazunis, Daniel Nikovski
For more than half a century, vibratory bowl feeders have been the standard in automated assembly for singulation, orientation, and manipulation of small parts. Unfortunately, thes…
Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control
Devesh K. Jha, Siddarth Jain, Diego Romeres +2
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices,…
Design of Adaptive Compliance Controllers for Safe Robotic Assembly
Devesh K. Jha, Diego Romeres, Siddarth Jain +2
Insertion operations are a critical element of most robotic assembly operation, and peg-in-hole (PiH) insertion is one of the most widely studied tasks in the industrial and academ…
Imitation and Supervised Learning of Compliance for Robotic Assembly
Devesh K. Jha, Diego Romeres, William Yerazunis +1
We present the design of a learning-based compliance controller for assembly operations for industrial robots. We propose a solution within the general setting of learning from dem…