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Compare Contact Model-based Control and Contact Model-free Learning: A Survey of Robotic Peg-in-hole Assembly Strategies [article]

Jing Xu and Zhimin Hou and Zhi Liu and Hong Qiao
2019 arXiv   pre-print
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.  ...  Ultimately, the remaining challenges and open questions in the field of robotic peg-in-hole assembly community is discussed. The promising directions and potential future work are also considered.  ...  In addition, according to the number of peg-hole mating pairs, the research work can be decomposed into single peg-in-hole [3] and multiple peg-in-hole assembly [33] [1] scenarios, as shown in Fig  ... 
arXiv:1904.05240v1 fatcat:ohkcd5y6kjcilo2vqgzw5oczna

Learning Force-Relevant Skills from Human Demonstration

Xiao Gao, Jie Ling, Xiaohui Xiao, Miao Li
2019 Complexity  
The effectiveness of the proposed approach is validated with two experiments, i.e., an object polishing task and a peg-in-hole assembly.  ...  Many human manipulation skills are force relevant, such as opening a bottle cap and assembling furniture.  ...  Acknowledgments Supplementary Materials The supplementary material is a video of the experiments, including an object polishing task and a peg-in-hole assembly task.  ... 
doi:10.1155/2019/5262859 fatcat:d5pqvlbzs5gk3nfuek5ywxvlmy

Haptic identification of remote environment properties

Robert D. Howe, Thomas Debus, Pierre Dupont, Matthew R. Stein
1998 Telemanipulator and Telepresence Technologies V  
The approach is validated for peg-in-hole insertion using a desktop teleoperator system.  ...  In teleoperation, automatic identification of remote environment properties such as object weight, size, and friction can assist the teleoperator in determining optimal manipulation strategies.  ...  To look at estimation of geometry in a specific case, we will analyze a peg-in-hole assembly task.  ... 
doi:10.1117/12.333676 fatcat:g3numtyni5fq3muxjtoiyv6yxm

Integrating Combined Task and Motion Planning with Compliant Control [article]

Hao Chen, Juncheng Li, Weiwei Wan, Zhifeng Huang, Kensuke Harada
2020 arXiv   pre-print
Six objects, including a connector with fifteen peg-in-hole pairs for detailed analysis and other five objects with different contours of pegs and holes for additional validation, were tested by the robot  ...  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.  ...  Acknowledgements This paper is based on results obtained from a project commissioned by the New Energy and Industrial Technology Development Organization (NEDO).  ... 
arXiv:2003.11707v1 fatcat:7en424a5k5cnll4nxb2uyucy64

Visual, Vibrotactile, and Force Feedback of Collisions in Virtual Environments: Effects on Performance, Mental Workload and Spatial Orientation [chapter]

Bernhard Weber, Mikel Sagardia, Thomas Hulin, Carsten Preusche
2013 Lecture Notes in Computer Science  
Individuals had to perform several object manipulations (peg-in-hole, narrow passage) in a virtual assembly scenario with three different collision feedback modalities (visual vs. vibrotactile vs. force  ...  The feedback modalities were evaluated in terms of assembly performance (completion time, movement precision) and subjective user ratings.  ...  peg-in-hole and narrow passage tasks.  ... 
doi:10.1007/978-3-642-39405-8_28 fatcat:uq6bp7xbyfexzmsqbuc3lnwmvu

Towards Coordinated Precision Assembly with Robot Teams [chapter]

Mehmet Dogar, Ross A. Knepper, Andrew Spielberg, Changhyun Choi, Henrik I. Christensen, Daniela Rus
2015 Springer Tracts in Advanced Robotics  
Second, we develop a new tool which is capable of co-localizing holes and fasteners for robust insertion and fastening.  ...  We present a system in which a flexible team of robots coordinate to assemble large, complex, and diverse structures autonomously.  ...  We are grateful for their support.  ... 
doi:10.1007/978-3-319-23778-7_43 fatcat:ty5jjeszjneq3evwmucvitfmey

A Gesture-Based Teleoperation System for Compliant Robot Motion

Wei Zhang, Hongtai Cheng, Liang Zhao, Lina Hao, Manli Tao, Chaoqun Xiang
2019 Applied Sciences  
The pick-and-place and peg-in-hole tasks were used to test the effectiveness of the teleoperation system we developed.  ...  Currently, the gesture-based teleoperation system cannot generate precise and compliant robot motions because human motions have the characteristics of uncertainty and low-resolution.  ...  Acknowledgments: We thank Xingchen Li for his comments which substantially improved the quality of this paper. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app9245290 fatcat:4rwonyeb2zfpzihjhrl5rblw6y

Automation of the car battery lid assembly operation

Roman Kamnik, Gregor Rodič, Matjaž Mihelj, Tadej Bajd
2001 Robotics and Computer-Integrated Manufacturing  
To design an automatic assembly system the lid assembly operation is considered as a problem of multiple peg-in-hole insertions.  ...  During the process of lid assembly, it is necessary for two plate stack electrodes to slide into two hollow lead terminals in the lid.  ...  Acknowledgements The authors acknowledge the technical support of Erik Ott, M.Sc., Janez & Sega, Ing., Peter Ivartnik, and Matja$ z Pe& covnik, Dipl.  ... 
doi:10.1016/s0736-5845(01)00017-5 fatcat:z56b3dnnxrhkjbv424ptgm2hnq

Automatic Synthesis of Fine-Motion Strategies for Robots

Tomás Lozano-Pérez, Matthew T. Mason, Russell H. Taylor
1984 The international journal of robotics research  
This paper describes a formal approach to the synthesis of compliant-motion strategies from geometric descriptions of assembly operations and explicit estimates of errors in sensing and control.  ...  Active compliance enables robots to carry out tasks in the presence of significant sensing and control errors. Compliant motions are quite difficult for humans to specify, however.  ...  Acknowledgments We would like to thank Rodney Brooks, Steve Buckley, and Mike Erdmann for their helpful comments on earlier drafts.  ... 
doi:10.1177/027836498400300101 fatcat:xinbhcc3m5enfm34xgjwqwz3h4

A risc approach to sensing and manipulation

John F. Canny, Kenneth V. Goldberg
1995 Journal of Robotic Systems  
Or a complex manipulation task may be performed via a sequence of grasp steps by di erent grippers specialized for acquisition and placement.  ...  This paper emphasizes three areas: i RISC sensing, primarily optical beam sensing ii RISC manipulation using simple parallel-jaw grippers or minimal congurations of ngers iii Computer-aided design of RISC  ...  Four contacts are necessary for force closure in the plane, and the degree of freedom in the vice jaws is needed to move all four pegs into simultaneous contact with the object.  ... 
doi:10.1002/rob.4620120603 fatcat:4yc4ffrw6za5lc72awes7rwxmm

Multi-Modal Fusion in Contact-Rich Precise Tasks via Hierarchical Policy Learning [article]

Piaopiao Jin, Yinjie Lin, Yanchao Tan, Tiefeng Li, Wei Yang
2022 arXiv   pre-print
Experiments indicate that robots with the control scheme could assemble objects with 0.25mm clearance in simulation.  ...  A key challenge is to achieve an effective multi-modal and generalized control scheme to novel objects with precision.  ...  The initial position offsets of the peg and hole along x, y and z axis could be up to 4cm, 4cm, and 5cm. The misalignment of the rotation of the peg and the hole can be up to 60 degrees.  ... 
arXiv:2202.08401v1 fatcat:5pbamntwovcv5fxxbv66pwma2u

AMP-CAD: Automatic assembly motion planning using CAD models of parts

S.N. Gottschlich, A.C. Kak
1994 Robotics and Autonomous Systems  
The calculation of the various motions is facilitated by an object-oriented and feature-based assembly representation.  ...  In this paper, we describe an assembly motion planning system that uses descriptions of assemblies and CAD models of parts to automatically figure out which motions should be point-to-point and which motions  ...  Strategies for Multiple Feature Pairs Little work has been done toward finding robust strategies for mating multiple pairs of assembly features simultaneously.  ... 
doi:10.1016/0921-8890(94)90011-6 fatcat:74arj6apfrb7ldhzpmner6576q

Factory: Fast Contact for Robotic Assembly [article]

Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, Ankur Handa, Dieter Fox
2022 arXiv   pre-print
We provide 60 carefully-designed part models, 3 robotic assembly environments, and 7 robot controllers for training and testing virtual robots.  ...  Finally, we train and evaluate proof-of-concept reinforcement learning policies for nut-and-bolt assembly.  ...  S11 ), Karl Van Wyk and Lucas Manuelli for helpful discussions on controllers, Viktor Makoviychuk for assistance with the rl-games [63] library, and the RSS reviewers for their insightful comments and  ... 
arXiv:2205.03532v1 fatcat:4jgmjskzarfapnpe7sxwnkfxyy

Development of a Robot Agent for Interactive Assembly [chapter]

Jainwei Zhang, Yorck Von Collani, Alois Knoll
1998 Distributed Autonomous Robotic Systems 3  
After introducing the general purpose of our project, we present the hardware and software components of a robot agent necessary for interactive assembly tasks.  ...  A human communicator sharing a view of the assembly scenario with the robot instructs the latter by speaking to it in the same way that he would communicate with a human partner.  ...  Finding a Hole A frequent operation for connecting parts is to peg a component onto a screw. This simple operation may fail, if the exact position of the hole is unknown.  ... 
doi:10.1007/978-3-642-72198-4_27 dblp:conf/dars/ZhangCK98 fatcat:ux3gpzh5qvggphfitipkiu7sbu

Micro and Mesoscale Robotic Assembly

Dan O. Popa, Harry E. Stephanou
2004 Journal of Manufacturing Processes  
One of the basic challenges in precision assembly is the need for very high accuracy over a large range of motion. We address this challenge through a "multiscale" approach.  ...  This involves the design of assembly tools and processes at multiple scales, and their integration into coherent system architectures.  ...  . for their valuable contributions to the experimental work presented in this paper.  ... 
doi:10.1016/s1526-6125(04)70059-6 fatcat:rdwr5pqfwvhr7lzpikfvqiq5ge
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