Uncertainty-driven Spiral Trajectory for Robotic Peg-in-Hole Assembly
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3176718
Abstract: The peg-in-hole assembly is an essential robotic task that is widely involved in the industry and daily life. Hole search is a crucial step in peg-in-hole since it aligns the peg and hole where the… read more here.
Keywords: hole; uncertainty; hole assembly; peg hole ... See more keywords
Peg-in-Hole Assembly With Dual-Arm Robot and Dexterous Robot Hands
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3187497
Abstract: This study focuses on implementing robotic peg-in-hole in a more human-like approach, namely using dual-arms and dexterous robotic hands. The peg-in-hole strategy in this study mainly consists of two parts: grasping strategy (hand part) and… read more here.
Keywords: hole; hole assembly; peg hole; strategy ... See more keywords
Fuzzy Logic-Driven Variable Time-Scale Prediction-Based Reinforcement Learning for Robotic Multiple Peg-in-Hole Assembly
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2020.3024725
Abstract: Reinforcement learning (RL) has been increasingly used for single peg-in-hole assembly, where assembly skill is learned through interaction with the assembly environment in a manner similar to skills employed by human beings. However, the existing… read more here.
Keywords: time; peg hole; environment; hole assembly ... See more keywords
Compliance-Based Robotic Peg-in-Hole Assembly Strategy Without Force Feedback
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2017.2682002
Abstract: The peg-in-hole assembly is a representative robotic task that involves physical contact with the external environment. In this paper, in contrast to past research in the area, which has involved the utilization of such expensive… read more here.
Keywords: hole assembly; compliance; hole; peg hole ... See more keywords
Feature-Based Compliance Control for Precise Peg-in-Hole Assembly
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2021.3112990
Abstract: This article focuses on solving the problem of precise peg-in-hole assembly. The main contribution of this article is to propose a control method to improve the assembly precision. The method is capable to realize the… read more here.
Keywords: peg hole; control; feature; precise peg ... See more keywords
Position/Force Visual-Sensing-Based Robotic Sheet-Like Peg-in-Hole Assembly
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2021.3135552
Abstract: This article deals with a sheet-like peg-in-hole robotic assembly task which is usually done in manual operation. Thin-walled deformable objects will introduce some special uncertainties in robotic peg-in-hole assembly, which may make this kind of… read more here.
Keywords: position; hole; peg hole; hole assembly ... See more keywords
A Noncontact Control Strategy for Circular Peg-in-Hole Assembly Guided by the 6-DOF Robot Based on Hybrid Vision
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Instrumentation and Measurement"
DOI: 10.1109/tim.2022.3164133
Abstract: Facing some special operating environments or conditions, existing control methods for the peg-in-hole assembly guided by robots always have their own disadvantages, for example, low efficiency or poor adaptability. For the above problem, in this… read more here.
Keywords: hole; control; hole assembly; peg hole ... See more keywords