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Snap assembly automation remains a challenging task. While progress is being made in localization of parts, force controllers, and control strategies, little work has been done to help the robot reason about its current state, such that if necessary, the robot can assume corrective actions to accomplish the task. Error prone situations caused by the(More)
Failure detection and correction is essential in robust systems. In robotics, failure detection has focused on traditional parts assembly, tool breakage, and threaded fastener assembly. However, not much work has focused on sub-mode failure classification. This is an important step in order to provide accurate failure recovery. Our work implemented a novel(More)
Failure detection plays an increasingly important role in industrial processes and robots that serve in unstructured environments. This work studies failure detection on cantilever snap assemblies, which are critical to industrial use and growing in importance for personal use. Our aim is to study whether an SVM can use a small set of features abstracted as(More)
Robotic failure is all too common in unstructured robot tasks. Despite well-designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the sense-planact paradigm, however more recently robots are undergoing a sense-plan-act-verify paradigm. In this work we present a(More)
Autonomous snap assemblies is a highly desirable robotic functionality. While much work has been done in active sensing for peg-in-hole assemblies and general compliant motions, snap assembly state estimation remains an open research problem. This work presents a probabilistic framework designed to account for uncertainties in assembly and yield more(More)
Robot introspection, as opposed to anomaly detection typical in process monitoring, helps a robot understand what it is doing at all times. A robot should be able to identify its actions not only when failure or novelty occurs, but also as it executes any number of sub-tasks. As robots continue their quest of functioning in unstructured environments, it is(More)