Kinesthetic sensing of hole position by 3-finger gripper

In this study, we present a novel method for ‘peg-in-hole’ assembly using a multi-joint three-fingered gripper. In previous studies, we have conducted peg-in-hole assembly based on spiral search method, not knowing the exact hole position. However, search time varies greatly depending on the error between the peg and the hole, it was difficult to estimate tact time of the assembly task. In this paper, in order to reduce the search time deviation of the hole, we propose a method that estimating the direction of the hole first before conducting the search motion. Direction of the hole is estimated by ‘kinesthetic sensing’ using the fingers grasping the peg. The feasibility of the proposed method has been verified through peg-in-hole assembly experiments using the three-fingered robot gripper.

[1]  Young Loul Kim,et al.  Hole detection algorithm for chamferless square peg-in-hole based on shape recognition using F/T sensor , 2014 .

[2]  Jungwon Seo,et al.  Shallow-Depth Insertion: Peg in Shallow Hole Through Robotic In-Hand Manipulation , 2019, IEEE Robotics and Automation Letters.

[3]  Yu Zhao,et al.  Autonomous alignment of peg and hole by force/torque measurement for robotic assembly , 2016, 2016 IEEE International Conference on Automation Science and Engineering (CASE).

[4]  Suguru Arimoto,et al.  Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand , 2010, 2010 IEEE International Conference on Robotics and Automation.

[5]  Moonhong Baeg,et al.  Intuitive peg-in-hole assembly strategy with a compliant manipulator , 2013, IEEE ISR 2013.

[6]  Giovanni De Magistris,et al.  Deep reinforcement learning for high precision assembly tasks , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[7]  Young-Jin Kim,et al.  Development of multi-purpose universal gripper , 2017, 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE).

[8]  Zhiwei Luo,et al.  Stable grasp of a 2D rigid object through rolling with soft fingers , 2007, 2007 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[9]  Tae-Yong Choi,et al.  Automatic assembly method with the passive compliant device , 2017, 2017 11th Asian Control Conference (ASCC).

[10]  Moonhong Baeg,et al.  Compliance-Based Robotic Peg-in-Hole Assembly Strategy Without Force Feedback , 2017, IEEE Transactions on Industrial Electronics.

[11]  Dong-Jin Lim,et al.  Active peg-in-hole of chamferless parts using force/moment sensor , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[12]  Moonhong Baeg,et al.  A grasp strategy with the geometric centroid of a groped object shape derived from contact spots , 2012, 2012 IEEE International Conference on Robotics and Automation.

[13]  S. Saravana Perumaal,et al.  Vision Based Pose Estimation of Multiple Peg-in-Hole for Robotic Assembly , 2016, ICVGIP Workshops.

[14]  Rui Song,et al.  Manipulation Skill Acquisition for Robotic Assembly using Deep Reinforcement Learning , 2019, 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

[15]  Zheng Wang,et al.  A Robotic Peg-in-Hole Assembly Strategy Based on Variable Compliance Center , 2019, IEEE Access.

[16]  Ren-Jung Chang,et al.  Visual-Based Automation of Peg-in-Hole Microassembly Process , 2011 .

[17]  Michael S. Branicky,et al.  Search strategies for peg-in-hole assemblies with position uncertainty , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[18]  Xianmin Zhang,et al.  Peg-in-hole assembly based on hybrid vision/force guidance and dual-arm coordination , 2017, 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[19]  Sangcheol Lee,et al.  Development of a new variable remote center compliance (VRCC) with modified elastomer shear pad (ESP) for robot assembly , 2005, IEEE Transactions on Automation Science and Engineering.

[20]  Moonhong Baeg,et al.  Dual arm peg-in-hole assembly with a programmed compliant system , 2014, 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI).

[21]  Wen-Chung Chang,et al.  Automated USB peg-in-hole assembly employing visual servoing , 2017, 2017 3rd International Conference on Control, Automation and Robotics (ICCAR).

[22]  Ieee Staff.  2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) , 2017 .

[23]  Siddhartha S. Srinivasa,et al.  Extrinsic dexterity: In-hand manipulation with external forces , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[24]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[25]  Yasuhisa Hasegawa,et al.  Insertion of long peg into tandem shallow hole using search trajectory generation without force feedback , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[26]  Ji-Hun Bae,et al.  KITECH-Hand: A Highly Dexterous and Modularized Robotic Hand , 2017, IEEE/ASME Transactions on Mechatronics.

[27]  Tsuyoshi Murata,et al.  {m , 1934, ACML.

[28]  Alberto Rodriguez,et al.  Prehensile pushing: In-hand manipulation with push-primitives , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[29]  Tetsuyou Watanabe,et al.  Peg-in-hole under state uncertainties via a passive wrist joint with push-activate-rotation function , 2017, 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids).

[30]  Jae-Bok Song,et al.  Guidance algorithm for complex-shape peg-in-hole strategy based on geometrical information and force control , 2016, Adv. Robotics.