Chapter 36 — Motion for Manipulation Tasks

Mesoscale manipulation: System, modeling, planning and control

This video shows an example of peg-in-hole manipulation on the mesoscale. Three robust motion primitives are introduced, i.e., one-point sticking contact with counterclockwise rotation, two-point contact motion without rotation, and robust rotation. These motion primitives are sequentially executed to accomplish the peg-in-hole manipulation task.
David J. Cappelleri et al.