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Comparative Peg-in-Hole Testing of a Force-Based Manipulation Controlled Robotic Hand



Karl Van Wyk, Mark Culleton, Joseph A. Falco, Kevin Kelly


Force-based manipulation control strategies are evolving as a primary mechanism to perform the fine manipulation tasks typical within manufacturing assembly. Accordingly, this paper demonstrates the first instance of a recently developed manipulation controller applied to a four-fingered, sixteen degreeof-freedom robotic hand with six-axis force-torque transducers at the fingertips. To quantify and compare the performance of robotic systems within this area, a peg-in-hole test method is created along with a systematic data analysis strategy. These tools are used to compare the active force control strategy to more traditional insertion strategies from industry. Performance results surrounding completion time and probability of success for inserting a peg indicate that the developed control strategy performs at a competitive level. Its active control of the peg's full Cartesian pose reduces perception error sensitivity and minimizes exerted insertion forces, which highlights the strategy's potential for fine manipulation tasks.
IEEE Transactions on Robotics


Manipulation, grasping, performance testing


Van, K. , Culleton, M. , Falco, J. and Kelly, K. (2018), Comparative Peg-in-Hole Testing of a Force-Based Manipulation Controlled Robotic Hand, IEEE Transactions on Robotics, [online], (Accessed April 17, 2024)
Created April 20, 2018, Updated June 3, 2020