Kenneth Kimble — accepted AI-conference papers

2025

Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation

Yiting Chen, Kenneth Kimble, Howard H. Qian, Podshara Chanrungmaneekul, Robert Seney, Kaiyu Hang

RSS 2025poster

Robust and adaptive robotic peg-in-hole assembly under tight tolerance is critical to various industrial applications. Still, it remains an open challenge due to perception and physical uncertainties from contact-rich interactions that easily exceed the allowed clearance. In this paper, we study how…

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2020

Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems

Kenneth Kimble, Karl Van Wyk, Joe Falco, Elena Messina, Yu Sun, Mizuho Shibata +2

RA-L 2020

This paper presents a set of performance metrics, test methods, and associated artifacts to help progress the development and deployment of robotic assembly systems. The designs for three task board artifacts that replicate small part insertion and fastening operations such as threading, snap fittin

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