Robust and Error-Tolerant Peg-in-Hole Assembly Using Simple Control

We developed a simple peg-in-hole strategy that uses flexible joints and peg rotations. Even when the circle peg in the peg-in-hole assembly contains position and orientation errors, it can be inserted in a passive and robust manner. Additionally, using force-torque sensors to estimate the contact position allows the correction of the orientation of the peg and its insertion into the hole if the initial attempt fails. We conducted horizontal and vertical peg-in-hole experiments with random position and orientation errors to demonstrate the effectiveness of the developed method. This method does not rely on high-frequency sensors or servos, which enables a quick and low-cost peg-in-hole assembly with tolerance to position and orientation errors and direction.