2026
Robust and Error-Tolerant Peg-In-Hole Assembly Using Simple Control
ICRA 2026poster
We developed a simple peg-in-hole strategy that uses flexible joints and peg rotations. Even when the circle peg in the peg-in-hole assembly contains position and orientation errors, it can be inserted in a passive and robust manner. Additionally, using force-torque sensors to estimate the contact p…