Related papers: Visual-Tactile Peg-in-Hole Assembly Learning from …
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,…
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…
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…
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…
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…
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…
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…
For peg-in-hole tasks, humans rely on binocular visual perception to locate the peg above the hole surface and then proceed with insertion. This paper draws insights from this behavior to enable agents to learn efficient assembly strategies…
Autonomous assembly is an essential capability for industrial and service robots, with Peg-in-Hole (PiH) insertion being one of the core tasks. However, PiH assembly in unknown environments is still challenging due to uncertainty in task…
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…
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…
Reinforcement Learning (RL) has shown great promise for efficiently learning force control policies in peg-in-hole tasks. However, robots often face difficulties due to visual occlusions by the gripper and uncertainties in the initial…
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…
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…
Peg-in-hole assembly is a challenging contact-rich manipulation task. There is no general solution to identify the relative position and orientation between the peg and the hole. In this paper, we propose a novel method to classify the…
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…
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…
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,…
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…
This paper proposes a learning-based visual peg-in-hole that enables training with several shapes in simulation, and adapting to arbitrary unseen shapes in real world with minimal sim-to-real cost. The core idea is to decouple the…