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Robust peg-in-hole manipulation motivated by a human tele-operating strategy

We present an algorithm to perform a peg-in-hole operation which is motivated by the human performance of pegin-hole actions in a tele-operating setting. The algorithm was tested on a platform consisting of a robot arm (equipped with a dexterous gripper) of only limited precision in terms of internal parameters and robot-sensor calibration (see Fig. 1). The proposed algorithm should be able to deal with pose estimation uncertainties and also – because of dexterity – with peg slipping in the gripper during the manipulation process. In the following, we briefly describe the results of our analysis of execution of peg-in-hole operations by humans in a tele-operating system and then the robot strategy deducted from that.