Peg-in-hole assembly is the most representative task for a robot to perform under contact conditions. Various strategies for accomplishing the peg-in-hole task with a robot exist, but the existing strategies are not sufficiently practical to be used for various assembly tasks in a human environment because they require additional sensors or exclusive tools. In this paper, the peg-in-hole assembly experiment is performed with anthropomorphic hand arm robot without extra sensors or devices using “intuitive peg-in-hole strategy”. From this work, the probability of applying the peg-in-hole strategy to a common assembly task is verified.

• 박현준(Korea institute of Industrial Technology, Department of transdisciplinary studies, Seoul National University) | Hyeonjun Park
• 김기현(Korea institute of Industrial Technology, Department of transdisciplinary studies, Seoul National University) | Peter Ki Kim
• 박재흥(Department of transdisciplinary studies, Seoul National University, Advanced Institutes of Convergence Technology) | Jaeheung Park
• 장가람(Korea institute of Industrial Technology) | Ja-Ram Jang
• 신용득(Korea institute of Industrial Technology) | Yong-Deuk Shin
• 배지훈(Korea institute of Industrial Technology) | Ji-Hun Bae Corresponding author
• 박재한(Korea institute of Industrial Technology) | Jae-Han Park
• 백문홍(Korea institute of Industrial Technology) | Moon-Hong Baeg