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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-2026061623-A1, on 5 March 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000002261

One-Shot Robust Visual-Force Robotic Servoing for Novel Object Insertion with 6-DoF Tracking

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
BOULARIAS ABDESLAM, CHANG HAONAN, JAIN SIDDARTH
Assignee
MITSUBISHI ELECTRIC RES LABORATORIES INC
Original source
US-2026061623-A1, the United States Patent and Trademark Office, 5 March 2026
Document SHA-256
893b8f2e934bfe2c24870c97507e4ec4b2f462e31362ae4a24702121a8ef2d46

Abstract

A system and method are provided for automated assembly of objects, and more specifically for performing assembly of objects involving insertion and part reorientations using a robotic arm. The system performs steps of estimating, from a task-demonstration image, an end-effector's pose and a pre-assemble object pose of the object grasped by an end-effector of the robot, tracking an object pose of the object by performing a 6-degrees of freedom (6-DoF) visual tracking control program using one or more RGB-D cameras, grasping the object using the end-effector by performing the 6-DoF visual tracking control program, moving the end-effector to align the object pose and the pre-assemble object pose, wherein the 6-DoF visual tracking control program is iteratively performed at each time during the moving, and performing an impedance control-based search to assemble the object with the receptacle.

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Citation

OpenTechnical Publication OT-2026-000002261, “One-Shot Robust Visual-Force Robotic Servoing for Novel Object Insertion with 6-DoF Tracking,” published September 15, 2026 at 19:11:49 UTC, https://opentechnical.org/p/OT-2026-000002261.

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