相关论文: Feature-Based Compliance Control for Peg-in-Hole A…

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,…

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…

Active Force Control (AFC) is an important scheme for tackling high-precision robotic assembly. Classical force controllers are highly surface-dependent: the controller must be carefully tuned for each type of surface in contact, in order…

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…

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…

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…

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 some high-precision industrial applications, robots are deployed to perform precision assembly tasks on mass batches of manufactured pegs and holes. If the peg and hole are designed with transition fit, machining errors may lead to…

Robotic peg-in-hole assembly remains a challenging task due to its high accuracy demand. Previous work tends to simplify the problem by restricting the degree of freedom of the end-effector, or limiting the distance between the target and…

Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…

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…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

This paper introduces a new shape-matching methodology, combinative matching, to combine interlocking parts for geometric shape assembly. Previous methods for geometric assembly typically rely on aligning parts by finding identical surfaces…

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…

Fine-grained visual categorization (FGVC), which aims at classifying objects with small inter-class variances, has been significantly advanced in recent years. However, ultra-fine-grained visual categorization (ultra-FGVC), which targets at…

The stability, robustness, accuracy, and efficiency of space-time finite element methods crucially depend on the choice of approximation spaces for test and trial functions. This is especially true for high-order, mixed finite element…

A new higher-order accurate method is proposed that combines the advantages of the classical $p$-version of the FEM on body-fitted meshes with embedded domain methods. A background mesh composed by higher-order Lagrange elements is used.…

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…

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…