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http://dx.doi.org/10.7746/jkros.2015.10.1.042

Robotic Peg-in-Hole Assembly by Hand Arm Coordination  

Park, Hyeonjun (Korea institute of Industrial Technology)
Kim, Peter Ki (Korea institute of Industrial Technology)
Park, Jaeheung (Department of transdisciplinary studies, Seoul National University)
Jang, Ja-Ram (Korea institute of Industrial Technology)
Shin, Yong-Deuk (Korea institute of Industrial Technology)
Bae, Ji-Hun (Korea institute of Industrial Technology)
Park, Jae-Han (Korea institute of Industrial Technology)
Baeg, Moon-Hong (Korea institute of Industrial Technology)
Publication Information
The Journal of Korea Robotics Society / v.10, no.1, 2015 , pp. 42-51 More about this Journal
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.
Keywords
Peg-in-Hole; Robotic manipulation; Hand arm coordination; In-hand manipulation;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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