The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Robotic Peg-in-Hole Assembly by Hand Arm Coordination

손과 팔의 협업에 의한 로봇 펙인홀 작업

  • Received : 2014.07.18
  • Accepted : 2015.01.28
  • Published : 2015.02.27
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Abstract

Peg-in-hole assembly is the most representative task for a robot to perform under contact conditions. Various strategies for accomplishing the peg-in-hole task with a robot exist, but the existing strategies are not sufficiently practical to be used for various assembly tasks in a human environment because they require additional sensors or exclusive tools. In this paper, the peg-in-hole assembly experiment is performed with anthropomorphic hand arm robot without extra sensors or devices using "intuitive peg-in-hole strategy". From this work, the probability of applying the peg-in-hole strategy to a common assembly task is verified.

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References

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