Journal
SENSORS
Volume 20, Issue 10, Pages -Publisher
MDPI
DOI: 10.3390/s20102861
Keywords
six-legged robot; peg-in-hole assembly; trajectory planning; sensor detect; force control
Funding
- National Nature Science Foundation of China [U1613208]
- National Key Research and Development Plan of China [2017YFE0112200]
- European Union's Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant [734575]
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Manipulators with multi degree-of-freedom (DOF) are widely used for the peg-in-hole task. Compared with manipulators, six-legged robots have better mobility performance apart from completing operational tasks. However, there are nearly no previous studies of six-legged robots performing the peg-in-hole task. In this article, a peg-in-hole approach for six-legged robots is studied and experimented with a six-parallel-legged robot. Firstly, we propose a method whereby a vision sensor and a force/torque (F/T) sensor can be used to explore the relative location between the hole and peg. According to the visual information, the robot can approach the hole. Next, based on the force feedback, the robot plans the trajectory in real time to mate the peg and hole. Then, during the insertion, admittance control is implemented to guarantee the smooth insertion. In addition, during the whole assembly process, the peg is held by the gripper and attached to the robot body. Connected to the body, the peg has sufficient workspace and six DOF to perform the assembly task. Finally, experiments were conducted to prove the suitability of the approach.
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