3 papers
cs.RO2025
Accurate Pose Estimation Using Contact Manifold Sampling for Safe Peg-in-Hole Insertion of Complex Geometries
Abhay Negi, Omey M. Manyar, Dhanush K. Penmetsa +1
Robotic assembly of complex, non-convex geometries with tight clearances remains a challenging problem, demanding precise state estimation for successful insertion. In this work, w…
cs.RO2025
Kinematic Model Optimization via Differentiable Contact Manifold for In-Space Manipulation
Abhay Negi, Omey M. Manyar, Satyandra K. Gupta
Robotic manipulation in space is essential for emerging applications such as debris removal and in-space servicing, assembly, and manufacturing (ISAM). A key requirement for these…
cs.RO2025
Learning the Contact Manifold for Accurate Pose Estimation During Peg-in-Hole Insertion of Complex Geometries
Abhay Negi, Omey M. Manyar, Dhanush Kumar Varma Penmetsa +1
Contact-rich assembly of complex, non-convex parts with tight tolerances remains a formidable challenge. Purely model-based methods struggle with discontinuous contact dynamics, wh…