Peg-and-hole task by robot with force sensor: Simulation and experiment

Yamashita, Tadashi; Godler, Ivan; Takahashi, Yoshiyuki; Wada, Kaname; Katoh, Ryozo

doi:10.1109/iecon.1991.239157

Cited by 13 publications

(7 citation statements)

References 3 publications

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“…Repeated practice helps the infant learn the correct orientation, and so the infant tends to approach the hole with a gradually better pre-orientation in successive trials. Some robotics approaches do insert a peg in a hole in a similar two-step approach, using only a force feedback sensor [129]. Reinforcement learning has also been applied to learn peg-in-hole insertion using reactive control from force and position feedback; this work showed a gradual improvement in insertion skill somewhat similar to infants [130].…”

Section: ) Advancing Bimanual Control and Object Manipulationmentioning

confidence: 87%

A Survey of the Ontogeny of Tool Use: From Sensorimotor Experience to Planning

Guérin

Krüger

Kraft

2013

IEEE Trans. Auton. Mental Dev.

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In this paper, we review current knowledge on tool use development in infants in order to provide relevant information to cognitive developmental roboticists seeking to design artificial systems that develop tool use abilities. This information covers: 1) sketching developmental pathways leading to tool use competences; 2) the characterization of learning and test situations; 3) the crystallization of seven mechanisms underlying the developmental process; and 4) the formulation of a number of challenges and recommendations for designing artificial systems that exhibit tool use abilities in complex contexts.

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Section: ) Advancing Bimanual Control and Object Manipulationmentioning

confidence: 87%

A Survey of the Ontogeny of Tool Use: From Sensorimotor Experience to Planning

Guérin

Krüger

Kraft

2013

IEEE Trans. Auton. Mental Dev.

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“…The feature can be detected easily. So the strategy is when the contact point is not in the above area, first move the shaft along X direction to region 9,11,13,15, then move along Y direction to region 5,6,7,8,13,14,15,16. Repeat this operation and gradually reduce the step size to a minimum step size, until approaching state 17.…”

Section: Align the Shaft With The Holementioning

confidence: 99%

“…In [5] Hidden Markov model is used to identify five different contact state, a dynamic model is established based on compliance contact mechanics in [6]. In [7,8,9], concrete implementation methods and strategies are raised. The strategies suggest above need to change the pose of end effector, and so the robot must have at least six degree of freedom.…”

Section: Introductionmentioning

confidence: 99%

Precision Peg-in-Hole Assembly Strategy Using Force-Guided Robot

Xu¹,

Hu²,

Hu³

2015

Proceedings of the 2015 3rd International Conference on Machinery, Materials and Information Technology Applications

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Position error is inevitable in robotic precision assembly task, so force sensor is needed to get information of the environment and guide the motion of robot. In order to describe assembly task clearly, we divided it in three phases: 1.Move to a certain position; 2.Move the shaft to the exactly top of the hole; 3. Put the shaft down in the hole. Phase1 is easy because the position of the hole and shaft is already known. In Phase2, we divide the contact area in sixteen regions, and detect the regions using KD-tree method. After detecting the regions, a coordinate search path is followed in finding the position of the hole. In phase3, we fine adjust the shaft on the X-Y plane according to the value of x F and y F , and put the shaft down in the hole. In order to validate the strategy, experiments are conducted on a Cartesian coordinate robot. Multiple position error is considered and the strategy perform well.

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“…On the other hand, in case (ii), the procedure may take longer because the peg can more easily be jammed inside the hole as the master can inadvertently move in an unintended degree of freedom. For instance, in the third step, the human may cause φ motions when he/she tries to apply z motions simply because both motions are controlled from the same user interface [24]. Obviously, two-handed teleoperation is more effective in this task.…”

Section: A Motivating Examplementioning

confidence: 99%

Stability of cooperative teleoperation using haptic devices with complementary degrees of freedom

Tavakoli²,

Huang

2014

IET Control Theory & Applications

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In bilateral teleoperation of a dexterous task, to take full advantage of the human's intelligence, experience, and sensory inputs, a possibility is to engage multiple human arms through multiple masters (haptic devices) in controlling a single slave robot with high degrees-of-freedom (DOF); the total DOFs of the masters will be equal to the DOFs of the slave. A multi-master/single-slave cooperative haptic teleoperation system with w DOFs can be modeled as a two-port network where each port (terminal) connects to a termination defined by w inputs and w outputs. The stability analysis of such a system is not trivial due to dynamic coupling across the different DOFs of the robots, the human operators, and the physical or virtual environments. The unknown dynamics of the users and the environments exacerbate the problem. We present a novel, straightforward and convenient frequency-domain method for stability analysis of this system. As a case study, two 1-DOF and 2-DOF master haptic devices are considered to teleoperate a 3-DOF slave robot. It is qualitatively discussed how such a trilateral haptic teleoperation system may result in better task performance by splitting the various DOFs of a dexterous task between two arms of a human or two humans. Simulation and experimental results demonstrate the validity of the stability analysis framework.

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Peg-and-hole task by robot with force sensor: Simulation and experiment

Cited by 13 publications

References 3 publications

A Survey of the Ontogeny of Tool Use: From Sensorimotor Experience to Planning

A Survey of the Ontogeny of Tool Use: From Sensorimotor Experience to Planning

Precision Peg-in-Hole Assembly Strategy Using Force-Guided Robot

Stability of cooperative teleoperation using haptic devices with complementary degrees of freedom

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