Coordinating Active and Passive Compliance in Peg-in-hole Assembly

Develop methods to coordinate active compliant control strategies with passive compliant mechanisms for peg-in-hole assembly, including decision criteria for when to optimize the active controller versus when to modify passive mechanical compliance.

Background

The survey contrasts active compliant control (e.g., force-based position control, impedance control) with passive compliance (e.g., RCC devices, high-compliance manipulators). Both can mitigate uncertainties during insertion, but they offer different trade-offs in performance, safety, and implementation effort.

The authors pose an open question on how to systematically combine and select between active and passive compliance, including deciding when to tune control parameters versus redesigning mechanical compliance.

References

Open questions in the field of robotic peg-in-hole assembly? How can the active compliant control strategies cooperating with passive compliant mechanisms be improved?

— Compare Contact Model-based Control and Contact Model-free Learning: A Survey of Robotic Peg-in-hole Assembly Strategies (1904.05240 - Xu et al., 2019) in Section 5.1, Open questions in the field of robotic peg-in-hole assembly?, Subsubsection: How can the active compliant control strategies cooperating with passive compliant mechanisms be improved?