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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…
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,…
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…
We present algorithms and results for a robotic manipulation system that was designed to be easily programmable and adaptable to various tasks common to industrial setting, which is inspired by the Industrial Assembly Challenge at the 2018…
Insertion operations are a critical element of most robotic assembly operation, and peg-in-hole (PiH) insertion is one of the most widely studied tasks in the industrial and academic manipulation communities. PiH insertion is in fact an…
Robotic peg-in-hole assembly represents a critical area of investigation in robotic automation. The fusion of reinforcement learning (RL) and deep neural networks (DNNs) has yielded remarkable breakthroughs in this field. However, existing…
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…
Contact-rich robotic skills remain challenging for industrial robots due to tight geometric tolerances, frictional variability, and uncertain contact dynamics, particularly when using position-controlled manipulators. This paper presents a…
The development of a generic and effective force model for semi-automatic or manual virtual assembly with haptic support is not a trivial task, especially when the assembly constraints involve complex features of arbitrary shape. The…
We present the design of a learning-based compliance controller for assembly operations for industrial robots. We propose a solution within the general setting of learning from demonstration (LfD), where a nominal trajectory is provided…
This paper uses robots to assemble pegs into holes on surfaces with different colors and textures. It especially targets at the problem of peg-in-hole assembly with initial position uncertainty. Two in-hand cameras and a force-torque sensor…
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…
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…
A reinforcement learning (RL) based method that enables the robot to accomplish the assembly-type task with safety regulations is proposed. The overall strategy consists of grasping and assembly, and this paper mainly considers the assembly…
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…
[...] 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…
Advanced imitation learning with structures like the transformer is increasingly demonstrating its advantages in robotics. However, deploying these large-scale models on embedded platforms remains a major challenge. In this paper, we…
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…
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…
Human-robot collaborative disassembly is an emerging trend in the sustainable recycling process of electronic and mechanical products. It requires the use of advanced technologies to assist workers in repetitive physical tasks and deal with…