2 papers
cs.RO2026
From Documented Strengths to Force Limits: Material-Informed Robotic Insertion for Construction Assembly
Lin He, Yanyi Chen, Haofei Sun +2
Insertion is a fundamental operation in robotic construction assembly, where variations in material properties and assembly conditions make it difficult to select contact forces th…
cs.RO2026
Constraint-Grounded Reinforcement Learning for Variable Impedance Control in Contact-Rich Robotic Insertion
Lin He, Min Deng
In robotic insertion under uncertain contact, the axial force limit and the appropriate controller gain vary across tasks. As a result, a single fixed gain is unlikely to remain su…