Stereo-Based Vision and Tactile Sensing for Robust Dual-Arm Robotic Connector Assembly

Abstract

The automation of Deformable Linear Object (DLO) manipulation remains a key challenge in industrial production. While prior works demonstrated reliable wire terminal insertion using vision and tactile sensing, they typically assume a fixed connector pose. This paper presents a dual-arm robotic system for fully autonomous connector assembly. A stereo vision system enables robust 6D pose estimation of the wire terminal, while a custom mechatronic gripper with integrated tactile sensing supports accurate insertion monitoring. In parallel, the second arm performs connector grasping. By combining complementary visual and tactile feedback across both manipulators, the system achieves the precision required for tight-tolerance insertion without fixed fixtures.