A modular approach for solving the peg-in-hole problem with a multifingered gripper

This paper discusses the peg-in-hole task performed by a system integrating a dextrous hand, a 6-DOF robot and a camera. It is shown how the starting conditions of the final insertion only performed by the fingers are affected by the previous stages. Based on the experimental findings, some criteria for the overall system design and the required manipulation capabilities of the gripper are derived. With respect to this performance evaluation a modular concept for solving insertion tasks with a multifingered gripper is presented. The object manipulation is realized by primitives which are executed in dependence on various assembly states. The implementation of this approach is described and beside a theoretical characterization, experimental results are given