Kim, B.-H. Oh, S.-R. Yi, B.-J. Suh, I.H. Chung, W.K. 2024-01-12T10:12:22Z 2024-01-12T10:12:22Z 2022-03-07 2000 0000-0000 https://pubs.kist.re.kr/handle/201004/84415 This paper deals with an analysis of the compliance characteristics for an effective peg-in-hole task using a robot hand without inter-finger coupling. We first classify the task of inserting peg-in-a-hole into three contact styles between the peg and the hole. Next, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given peg-in-hole task for each case. It is concluded that the location of the compliance center on the peg and the coupling stiffness elements between the translational and rotational directions play important roles for a successful peg-in-hole task. Simulation results are included to verify the feasibility of the analytic results. ？ 2000 IEEE. English IEEE Computer Society Analysis of compliance characteristic for effective multi-fingered robotic peg-in-hole task Conference 10.1109/IECON.2000.973185 1 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies, pp.410 - 415 2000 26th Annual Conference of the IEEE Industrial Electronics Society. IECON 2000. 2000 IEEE International Conference on Industrial Electronics, Control and Instrumentation. 21st Century Technologies 410 415 US Nagoya, Japan 2000-10-22 IECON Proceedings (Industrial Electronics Conference) 2-s2.0-84969138574