Enhancing Peg-In-Hole Tasks Using Dynamic Movement Primitives for Improved Precision

DESCRIPTION

This document explores the application of dynamic movement primitives (DMP) in the peg-in-hole (PiH) task, focusing on efficient force control. The peg-in-hole task serves as a benchmark for robotic manipulation and precision. By employing DMPs, we enhance the adaptability and robustness of robotic systems during PiH operations, allowing them to dynamically adjust their movements in response to interactions and forces encountered. This work provides insights into force control mechanisms that optimize performance and ensure successful task execution in uncertain environments.

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Apr 30, 2026

1 peginhole2 dynamic movement primitives3 force control4 robotic systems5 assembly tasks6 precision robotics7 motion planning8 adaptive controltext

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Enhancing Peg-In-Hole Tasks Using Dynamic Movement Primitives for Improved Precision

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