A Peg-in-hole Task Strategy for Holes in Concrete
André Yuji Yasutomi Hiroki Mori Tetsuya Ogata André Yuji Yasutomi Hiroki Mori Tetsuya Ogata
A method that enables an industrial robot to accomplish the peg-in-hole task for holes in concrete is proposed. The proposed method involves slightly detaching the peg from the wall, when moving between search positions, to avoid the negative influence of the concrete’s high friction coefficient. It uses a deep neural network (DNN), trained via reinforcement learning, to effectively find holes wit...