Yaohua Zang

Uncertainty-Driven Spiral Trajectory for Robotic Peg-in-Hole Assembly

The peg-in-hole assembly is an essential robotic task that is widely involved in the industry and daily life. Hole search is a crucial step in peg-in-hole since it aligns the peg and hole where the positional uncertainty is presented. This study introduces a hole search strategy by computing an expl