Screwdriving with a Handheld Tool
Acquire a handheld screwdriver, engage a partially inserted screw, and drive it to the target depth.
Robot in Simulation
Task Description
One arm picks up the handheld screwdriver and hands it to the other. The second arm sets the tip in a partially inserted screw while the first arm holds the plate steady. The second arm then turns the driver until the screw reaches the target depth. The tip has to stay engaged in the screw head through every turn.
Human Demonstration
Grounding Focus
Tool-tip alignment, thread resistance, and sustained engagement connect contact modeling with force-sensitive control.
Evaluation Focus
Tool engagement, final depth, slips, thread damage, regrasp count, and completion time.
Evaluation protocols and results will be published as they become available.