Behaviour-based peg-in-hole

Abstract

Given the high occurence rate in assembly industry, mating a peg into a hole can be considered as one of the most classic problem in robotics. Such a task has been extensively examined by many researchers who have repeatedly attempted to find out a general solution for it. Peg in hole, which is, needlessly to mention, extremely trivial for any human operator, is surprisingly difficult to have it carried out by a robot manipulator. The reason is partly due to a physical limitation of the mechanical compliance of the robot wrist and arm and partly to a lack of a mating strategy allowing the successful execution of the task whatever the initial position of peg and hole axes is. The work presented in this paper tackles a particular class of peg-in-hole (tandem peg-in-hole) and proposes within the behaviour-based paradigm a solution to its two main components (hole search and peg insertion) loosely modeled on the equivalent strategies performed by a blind human being in possess solely of the same sensing capability (i.e. a simple differential touch sensor).

Performance evaluation of haptic hand‐controllers in a robot‐assisted surgical system

“…(6) Did the haptic device feel natural to use? (7) Was the haptic device smooth in navigation? (8) Was the device easy to move around?…”

“…Some challenges of performing robot‐assisted surgical tasks are: (a) physical limitations of the master hand‐controller; (b) physical limitations of the slave manipulator; (c) constraints in the operator's hand movement; and (d) lack of a mating strategy to allow successful execution of the task . Although there has been a growing need to define procedures for evaluating the performance of haptic‐enabled tele‐operated systems, the evaluation of the role of the hand‐controller in improving the performance of a tele‐operated surgical robotic system is incomplete .…”

Behaviour-based robot program invariance

“…As can be easily understood, the main result emerging from this task analysis consists in the three kinds of components required to achieve it: pick-up, stack, and pegin-hole. In this regard I would like to recall that a thorough analysis and discussion of peg-in-hole within the framework of the behaviour-based assembly paradigm can be found in a previous work of mine, 26 thus I dedicate Subsections 4.1 and 4.2 to the other two components and Subsection 4.3 and Subsection 4.4 to summarise the partial benchmark implementation and experimental work, respectively.…”

“…As far as the peg-in-hole is concerned, I would like to point out that a thorough analysis and discussion is reported in another work of mine. 26 Here, I would like simply to state again the possible outcomes which the execution of its implementation may lead to:…”

Sensor-based analysis of high-precision insertion tasks

“…Peg insertion task has a long history in the field of robotics and automation research [2,3,4,5,6,7,8,9,10,11,12,13,14]. It is one of the most commonly used goal tasks.…”