Analysis of assembly skills for dry battery insertion based on force control parameters

In this paper, assembly skills for dry battery insertion are analyzed with respect to the applied force control. First, force control parameters used in dry battery insertion are identified based on human demonstration data. The time series data of force control parameters are then modeled based on a hidden Markov model (HMM). By analyzing the obtained HMM, basic motions necessary for achieving the task, such as search, pushing, rotation, and modifying motions, are derived. Then control policies to perform each motion are examined qualitatively.