Alignment Method of Combined Perception for Peg-in-Hole Assembly with Deep Reinforcement Learning

The method of tactile perception can accurately reflect the contact state by collecting force and torque information, but it is not sensitive to the changes in position and posture between assembly objects. The method of visual perception is very sensitive to changes in pose and posture between assembled objects, but they cannot accurately reflect the contact state, especially since the objects are occluded from each other. The robot will...