Condition to select appropriate control policies for complex assembly based on object structure with constraints and compliance

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This research aims to develop a method to plan robotic motions for complex assembly. To achieve complex assembly, appropriate control policies need to be selected based on task conditions. Thus, object structure represented by constraints and compliance between target objects is proposed to develop a task procedure and analyze a target task. In this research period, I have focused on dry battery insertion for presenting an example. Control policies for the task were obtained based on human demonstration and conditions for selecting policies were determined based on the object structure. Finally, it is shown that the target task was achieved with the developed assembly motion by experiments.