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Title: Integrating force-based manipulation primitives with deep visual servoing for robotic assembly
Authors: Lee, Yee Sien
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2022
Publisher: Nanyang Technological University
Source: Lee, Y. S. (2022). Integrating force-based manipulation primitives with deep visual servoing for robotic assembly. Final Year Project (FYP), Nanyang Technological University, Singapore.
Project: B171
Abstract: 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-clearance insertion is attempted. With the integration of tactile and visual information, highly-accurate peg alignment before insertion can be achieved autonomously. In the alignment phase, the peg mounted on the end-effector can be aligned automatically from an initial pose with large displacement errors to an estimated insertion pose with errors lower than 1.5 mm in translation and 1.5° in rotation, all in one-shot Deep Learning-Based Visual Servoing estimation. If using solely Deep Learning-based Visual Servoing is not able to complete the peg-in-hole insertion, a dynamic sequence of Manipulation Primitives will then be automatically generated via Reinforcement Learning to fnish the last stage of insertion.
Schools: School of Mechanical and Aerospace Engineering 
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)

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