Gaozhao Wang

Visual-Tactile Perception Based Control Strategy for Complex Robot Peg-in-Hole Process via Topological and Geometric Reasoning

Peg-hole-insertion processes of diverse shapes are typical contact-rich tasks, which need the accurate representation of object's shape, pose, and peg-hole contact states. The visual-tactile sensor can perceive the relative moving trend between the gripper and the grasped object, which could be appl