Arun Dayal Udai

Depth-based localization for robotic peg-in-tube assembly

Peg-in-tube assembly stands ahead of a more common benchmark task for industrial assembly, i.e., ‘pegin-hole’. The robot can easily be deceived to detect the actual hole while performing a ‘peg-in-tube’ task as the tube has a surrounding pocket that cannot support the peg. The paper presents a thoro…