{"ID":2836397,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.21366","arxiv_id":"2511.21366","title":"Hybrid Control for Robotic Nut Tightening Task","abstract":"An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between force and position control. Extensive simulations demonstrate the system's robustness to variance in initial conditions. Additionally, the proposed controller tightens threaded screws 14% faster than the baseline while applying 40 times less contact force on manipulands. For the benefit of the research community, the system's implementation is open-sourced.","short_abstract":"An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between force and position control. Extensive simulations demonstrate the system's robustnes...","url_abs":"https://arxiv.org/abs/2511.21366","url_pdf":"https://arxiv.org/pdf/2511.21366v1","authors":"[\"Dmitri Kovalenko\"]","published":"2025-11-26T13:12:21Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}