A fast robot deployment strategy for successful snap assembly

The snap assembly of two small parts in a semi-structured environment is considered. This work proposes a task-based variable impedance solution strategy that allows one arm/hand robotic system to extract assembly haptic cues via pHRI and subsequently achieve autonomously the desired objective with extrinsic dexterity. A wavelet pattern is extracted from the estimated force derivatives during a cooperative human - robot assembly and is utilized to confirm a successful assembly during the autonomous operation of a robot. The KUKA LWR4+ and the Barrett BS8 hand are used under compliant motion demonstrating the concept solution for two different assemblies.