{
  "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.",
  "assignees": [
    "MITSUBISHI ELECTRIC RES LABORATORIES INC"
  ],
  "authors": [
    "BOULARIAS ABDESLAM",
    "CHANG HAONAN",
    "JAIN SIDDARTH"
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    "name": "Creative Commons Attribution 4.0 International",
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  "source_date": "2026-03-05",
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  "title": "One-Shot Robust Visual-Force Robotic Servoing for Novel Object Insertion with 6-DoF Tracking",
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