相关论文: Robust Peg-in-Hole Assembly under Uncertainties vi…

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…

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…

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 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 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…

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…

[...] 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…

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…

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…

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…

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…

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…

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…

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…

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 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…

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…

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…