{
  "abstract": "This disclosure describes a method for precisely inserting a mating component into a corresponding receptacle using a robotic manipulator. The system employs a force-controlled spiral search pattern to locate the receptacle's opening. The search is bounded by an accumulated lateral force threshold, which prevents galling or damage to the components. Upon exceeding this threshold without successful insertion, the system distinguishes between a jammed state and a seated state. If a jam is detected, the system executes a retry sequence involving a modified approach angle to facilitate engagement, improving insertion reliability for components with tight tolerances or non-ideal alignment.",
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      "caption": "An overhead view showing the general path of the end effector during a spiral search for a receptacle, indicating the search parameters.",
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  "keywords": [
    "robotics",
    "force control",
    "insertion",
    "spiral search",
    "lateral force",
    "component assembly",
    "receptacle",
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  "published_at": "2026-09-15T19:01:18.032156Z",
  "publisher": "Nebula Innovations Limited",
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  "title": "Force Controlled Robotic Insertion with Bounded Spiral Search",
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