{'fraction_non_alphanumeric': 0.026285714285714287, 'fraction_numerical': 0.0, 'mean_word_length': 4.918918918918919, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Formulation and motion planning of the peg-in-hole task with mixed logical dynamical system theory

It is well known that most assembly skills can be regarded as one of the signal-symbol hybrid dynamical systems, since the interactive dynamics between the end-effector and the environment change according to contact configurations (geometrical constraints). In this paper, we first propose a model of the peg-in-hole task, which is known as a typical assembly task. Mixed logical dynamical system theory is adopted to formulate the peg-in-hole task, and an optimal solution with both continuous and logical variables under an objective function is found systematically. Then, a strategy to find the optimal solution with less computation is proposed. Finally, some planning results for the peg-in-hole task are shown in order to verify the usefulness of the proposed method.