3 accepted papers
This study introduces a novel assembly, layered peg-in-hole, and suggests a search strategy. Distinct from the traditional peg-in-hole assembly, where two workpieces (i.e., peg/hole) are present, the layered peg-in-hole assembly contains three workpieces (i.e., peg, hole, and thru-hole). To handle t…
For successful peg-in-hole assembly, predefined sub-tasks should be executed sequentially according to the current contact state. Therefore, recognizing contact state transitions is essential in order to determine whether to continue the current task or proceed to the next. In that context, learning
Recently, the robotic assembly has been expanded into an unstructured environment. This environment includes uncertainties that may cause unexpected situations such as a failure of the assembly. Such problems can be prevented or monitored by a robust contact state (CS) estimation method. In that sen