Vision-based Six-Dimensional Peg-in-Hole for Practical Connector Insertion
Kun Zhang,Chen Wang,Hua Chen,Jia Pan,Michael Yu Wang,Wei Zhang,Kun Zhang,Chen Wang,Hua Chen,Jia Pan,Michael Yu Wang,Wei Zhang
We study six-dimensional (6D) perceptive peg-in-hole problem for practical connector insertion task in this paper. To enable the manipulator system to handle different types of pegs in complex environment, we develop a perceptive robotic assembly system that utilizes an in-hand RGB-D camera for peg-in-hole with multiple types of pegs. The proposed framework addresses the critical hole detection an...
