OPENTECHNICAL PUBLICATION
OT-2026-000002261

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

Published: 2026-09-15T19:11:49.864371Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002261
Categories: Robotics & Automation > Robot Architectures

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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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OpenTechnical publication OT-2026-000002261
Published 2026-09-15T19:11:49.864371Z
https://opentechnical.org/p/OT-2026-000002261