Shallow-Depth Insertion: Peg in Shallow Hole Through Robotic In-Hand Manipulation.

This letter presents a novel robotic manipulation technique suitable for shallow-depth insertion, which refers to the assembly of a relatively thin peg-like object into a hole with a shallow depth, as can be seen in a cell phone battery insertion for example. Our technique features dexterous manipulation actions that combine into a complete insertion operation, as also commonly demonstrated by hum...