# Feature-Based Compliance Control for Peg-in-Hole Assembly with Clearance or Interference Fit

arXiv: https://arxiv.org/abs/2103.16003 · HTML: https://mlsanity.com/paper/2103.16003/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Mar 2021.

## Built on by (most cited first, 1 of 1)

- [Progressive extension of reinforcement learning action dimension for asymmetric assembly tasks](https://mlsanity.com/paper/2104.04078/) (2021)

## Abstract (arXiv)

This paper aims at solving mass precise peg-in-hole assembly. First, a feature space and a response space are constructed according to the relative pose and equivalent forces and moments. Then the contact states are segmented in the feature space and the segmentation boundaries are mapped into the response space. Further, a feature-based compliance control (FBCC) algorithm is proposed based on boundary mapping. In the FBCC algorithm, a direction matrix is designed to execute accurate adjustment and an integrator is applied to eliminate the residual responses. Finally, the simulations and experiments demonstrate the superiority, robustness, and generalization ability of the FBCC.