Robotic Object Insertion with a Soft Wrist through Sim-to-Real Privileged Training
This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured environments, we assume that there are uncertainties in object grasp and hole pose and that the soft wrist pose cannot be directly measured.
Evidence notes
- Experiments use Robotiq Hand-E Adaptive Gripper as the physical evaluation platform.
- The evaluation connects the reported method to Robotiq Hand-E Adaptive Gripper hardware in manipulation and dexterity tasks.
Company context
Canadian collaborative-robot tooling company supplying adaptive grippers, vacuum grippers, force/torque sensing and related cobot components.