Shallow-Depth Insertion: Peg in Shallow Hole through Robotic In-Hand Manipulation

Chung Hee Kim and Jungwon Seo

IEEE Robotics and Automation Letters (IEEE RA-L), April 2019

The contents of the paper were also selected for a presentation at ICRA 2019, Montreal, Canada.

"ICRA 2019 Best Paper Award in Robot Manipulation"

Published Article (IEEE Xplore), Accepted Manuscript (PDF), ICRA2019 Poster (PDF)

Dexterous Peg in Shallow Hole

Our recent robotic manipulation technique addresses how to insert thin objects (such as the phone battery) into shallow holes through dexterous manipulation. This technique uses the conventional parallel-jaw gripper and can readily be applied to industrial assembly tasks. We were also awarded the Best Paper Award in Robot Manipulation at ICRA 2019!

See a news coverage posted by the Department of Mechanical and Aerospace Engineering and another one posted by the Department of Electronic and Computer Engineering, HKUST.

You can also checkout our github repository shallow_depth_insertion for your own implementation!