---
publication_id: "OT-2026-000002261"
title: "One-Shot Robust Visual-Force Robotic Servoing for Novel Object Insertion with 6-DoF Tracking"
published_at: "2026-09-15T19:11:49.864371Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002261"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1697"
  - "b25j9/1697"
  - "b25j9/1697"
  - "b25j9/16"
  - "b25j9/1612"
  - "b25j9/1612"
---

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

## 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.