Related papers: Peg-in-Hole Revisited: A Generic Force Model for H…
Haptic-assisted virtual assembly and prototyping has seen significant attention over the past two decades. However, in spite of the appealing prospects, its adoption has been slower than expected. We identify the main roadblocks as the…
Robust and adaptive robotic peg-in-hole assembly under tight tolerances is critical to various industrial applications. However, it remains an open challenge due to perceptual and physical uncertainties from contact-rich interactions that…
Multiple Peg-in-Hole (MPiH) assembly is one of the fundamental tasks in robotic assembly. In the MPiH tasks for large-size parts, it is challenging for a single manipulator to simultaneously align multiple distant pegs and holes,…
This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequency control signals than a rigid one. Previous studies often…
Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires extensive exploration. In this paper, we propose a novel…
The study addresses the foundational and challenging task of peg-in-hole assembly in robotics, where misalignments caused by sensor inaccuracies and mechanical errors often result in insertion failures or jamming. This research introduces…
Industrial robot manipulators are playing a more significant role in modern manufacturing industries. Though peg-in-hole assembly is a common industrial task which has been extensively researched, safely solving complex high precision…
This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alignment and insertion of objects with geometrical extrusions…
The ability to autonomously assemble structures is crucial for the development of future space infrastructure. However, the unpredictable conditions of space pose significant challenges for robotic systems, necessitating the development of…
Generalization is important for peg-in-hole assembly, a fundamental industrial operation, to adapt to dynamic industrial scenarios and enhance manufacturing efficiency. While prior work has enhanced generalization ability for pose…
An important application of haptic technology to digital product development is in virtual prototyping (VP), part of which deals with interactive planning, simulation, and verification of assembly-related activities, collectively called…
In this paper, we present an overview of robotic peg-in-hole assembly and analyze two main strategies: contact model-based and contact model-free strategies. More specifically, we first introduce the contact model control approaches,…
In the peg insertion task, human pays attention to the seam between the peg and the hole and tries to fill it continuously with visual feedback. By imitating the human behavior, we design architectures with position and orientation…
[...] Specifically, the problem addressed is an assembly one known as the peg-in-hole task. In this case, two autonomous manipulators must carry cooperatively (at kinematic level) a peg and must insert it into an hole fixed in the…
We present a learning-based force-torque dynamics to achieve model-based control for contact-rich peg-in-hole task using force-only inputs. Learning the force-torque dynamics is challenging because of the ambiguity of the low-dimensional…
This paper investigates robotic peg-in-hole assembly using the Elementary Dynamic Actions (EDA) framework, which models contact-rich tasks through a combination of submovements, oscillations, and mechanical impedance. Rather than focusing…
Contact-rich assembly of complex, non-convex parts with tight tolerances remains a formidable challenge. Purely model-based methods struggle with discontinuous contact dynamics, while model-free methods require vast data and often lack…
High precision assembly of mechanical parts requires accuracy exceeding the robot precision. Conventional part mating methods used in the current manufacturing requires tedious tuning of numerous parameters before deployment. We show how…
This paper aims at solving mass precise peg-in-hole assembly. First, a feature space and a response space are constructed according to the relative pose and equivalent forces and moments. Then the contact states are segmented in the feature…
The accurate modeling of real-world systems and physical interactions is a common challenge towards the resolution of robotics tasks. Machine learning approaches have demonstrated significant results in the modeling of complex systems…