Joshua C. Triyonoputro

Quickly Inserting Pegs into Uncertain Holes using Multi-view Images and Deep Network Trained on Synthetic Data

This paper explores the use of robots to autonomously assemble parts with variations in colors and textures. Specifically, we focus on peg-in-hole assembly with some initial position uncertainty and holes located on surfaces of different colors and textures. Two in-hand cameras and a force-torque se…