Analysis of human peg-in-hole executions in a robotic embodiment using uncertain grasps

In this paper, we perform a quantitative and qualitative analysis of human peg-in-hole operations in a tele-operating setting with a moderate degree of dexterity. Peg-in-hole operation with different starting configurations are performed with the aim to derive a strategy for performing such actions with a robot. The robot is a 6 DoF robot arm with the dexterous 3 finger SDH-2 gripper. From the extracted data, we can distill important insights about (1) feasible grasps depending on the peg´s pose, (2) the object trajectory, (3) the occurrence of a particular force-torque pattern during the monitoring of the action and (4) an appropriate insertion strategy. At the end of the paper, we discuss consequences for using these insights for deriving algorithms for robot execution of peg-in-hole actions with dexterous manipulators.