Peg-in-hole assembly on Real Robot Peg-in-Hole Experiments
0Avg Extra Executions (Fit)Compliance-Enabled Failure Recovery
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Compliance-Enabled Failure RecoveryHole Position (mm)=0, Peg Angle (degrees)=02025.09 | 0 | 0.2 | 0.6 | 100 | 100 | |
| Compliance-Enabled Failure RecoveryHole Position (mm)=10, Peg Angle (degrees)=02025.09 | 0.2 | 0.4 | 0.2 | 100 | 100 | |
| Compliance-Enabled Failure RecoveryHole Position (mm)=15, Peg Angle (degrees)=02025.09 | 1.4 | 1.4 | 0.4 | 100 | 100 | |
| Compliance-Enabled Failure RecoveryHole Position (mm)=10, Peg Angle (degrees)=52025.09 | 2 | 0.8 | 0.2 | 100 | 100 | |
| Compliance-Enabled Failure RecoveryHole Position (mm)=15, Peg Angle (degrees)=52025.09 | 2 | 0.4 | 0.2 | 100 | 100 | |
| Compliance-Enabled Failure RecoveryHole Position (mm)=20, Peg Angle (degrees)=02025.09 | 2.2 | 2.8 | 0 | 80 | 80 | |
| Compliance-Enabled Failure RecoveryHole Position (mm)=20, Peg Angle (degrees)=52025.09 | 3 | 1.8 | 1.4 | 80 | 100 |