Peg-on-hole: a model based solution to peg and hole alignment

Bruyninckx, Herman; Dutré, S.; Schutter, Joris De

doi:10.1109/robot.1995.525545

Cited by 75 publications

(31 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Numerous studies have been carried out in this area (e.g. [20]), but solving peg-in-hole task in virtual environment actualises this problem yet again.…”

Section: Peg-in-holementioning

confidence: 99%

Towards immersive designing of production processes using virtual reality techniques

Buzjak¹,

Kunica²

2018

Interdiscip. Descr. Complex Syst.

View full text Add to dashboard Cite

The article provides a novel approach to the implementation of virtual reality within planning and design of manual processes and systems. The use of hardware and software required to perform different production  especially assembly  tasks in a virtual environment, using CAD parts as interactive elements, is presented. Considering the CAD parts, the format conversion problem is comprehensively described and solved using format conversion software to overcome the present poor data connectivity between the CAD system and virtual reality hardware and software. Two examples of work processes have been made in a virtual environment: peg-in-hole and wall socket assembly. In the latter case, the traditional planning approach of manual assembly tasks using predetermined motion time system MTM-2 has been compared with a modern approach in which the assembly task is fully performed within a virtual environment. The comparison comprises a discussion on the assembly task execution times. In addition, general and specific advantages and disadvantages that arise in the immersive designing of production processes using virtual reality are presented, as well as reflections on teamwork and collaborative man-machine work. Finally, novel technologies are proposed to overcome the main problems that occur when implementing virtual reality, such as time-consuming scene defining or tedious CAD software data conversion.

show abstract

“…Numerous studies have been carried out in this area (e.g. [20]), but solving peg-in-hole task in virtual environment actualises this problem yet again.…”

Section: Peg-in-holementioning

confidence: 99%

Towards immersive designing of production processes using virtual reality techniques

Buzjak¹,

Kunica²

2018

Interdiscip. Descr. Complex Syst.

View full text Add to dashboard Cite

show abstract

“…A peg-in-hole task is a classical example that can be solved through a manipulation primitive. Force sensing can be used in order to compensate for uncertainties in the peg orientation with respect to the hole [14], and it allows the system to operate without explicit knowledge of the dimensions of the grasped objects [15]. More recently, the problem of snap-fitting has been subject of attention.…”

Section: Related Workmentioning

confidence: 99%

Bimanual folding assembly: Switched control and contact point estimation

Almeida

Vina

Karayiannidis

2016

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

View full text Add to dashboard Cite

Abstract-Robotic assembly in unstructured environments is a challenging task, due to the added uncertainties. These can be mitigated through the employment of assembly systems, which offer a modular approach to the assembly problem via the conjunction of primitives. In this paper, we use a dual-arm manipulator in order to execute a folding assembly primitive. When executing a folding primitive, two parts are brought into rigid contact and posteriorly translated and rotated. A switched controller is employed in order to ensure that the relative motion of the parts follows the desired model, while regulating the contact forces. The control is complemented with an estimator based on a Kalman filter, which tracks the contact point between parts based on force and torque measurements. Experimental results are provided, and the effectiveness of the control and contact point estimation is shown.

show abstract

“…Bruyninckx et al [9] demonstrated that insertion tasks can be solved using two different types of approaches: 1) approaches based on kinematic models of the goal location and constraints; and 2) approaches based on geometrically precise alignment of the peg with respect to the hole. This paper builds on our previous work [10] that showed that robots can use exploratory behaviors and proprioceptive feedback to solve insertion tasks.…”

Section: Related Workmentioning

confidence: 99%

Learning to slide a magnetic card through a card reader

Sukhoy

Georgiev

Wegter

et al. 2012

2012 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

Abstract-This paper describes a set of experiments in which an upper-torso humanoid robot learned to slide a card through a card reader. The small size and the flexibility of the card presented a number of manipulation challenges for the robot. First, because most of the card is occluded by the card reader and the robot's hand during the sliding process, visual feedback is useless for this task. Second, because the card bends easily, it is difficult to distinguish between bending and hitting an obstacle in order to correct the sliding trajectory. To solve these manipulation challenges this paper proposes a method for constraint detection that uses only proprioceptive data. The method uses dynamic joint torque thresholds that are calibrated using the robot's movements in free space. The experimental results show that using this method, the robot can detect when the movement of the card is constrained and modify the sliding trajectory in real time, which makes solving this task possible.

show abstract

Peg-on-hole: a model based solution to peg and hole alignment

Cited by 75 publications

References 7 publications

Towards immersive designing of production processes using virtual reality techniques

Towards immersive designing of production processes using virtual reality techniques

Bimanual folding assembly: Switched control and contact point estimation

Learning to slide a magnetic card through a card reader

Contact Info

Product

Resources

About