Micro well-plates are commonly used apparatus in chemical and biological experiments that are a few centimeters in thickness with wells in them. The task we aim to solve is to place (insert) them onto a well-plate holder with grooves a few millimeters in height. Our insertion task has the following facets: 1) There is uncertainty in the detection of the position and pose of the well-plate and well-plate holder, 2) the accuracy required is in the order of millimeter to sub-millimeter, 3) the well-plate holder is not fastened, and moves with external force, 4) the groove is shallow, and 5) the width of the groove is small. Addressing these challenges, we developed a) an adaptive finger gripper with accurate detection of finger position (for (1)), b) grasped object pose estimation using tactile sensors (for (1)), c) a method to insert the well-plate into the target holder by sliding the well-plate while maintaining contact with the edge of the holder (for (2-4)), and d) estimating the orientation of the edge and aligning the well-plate so that the holder does not move when maintaining contact with the edge (for (5)). We show a significantly high success rate on the insertion task of the well-plate, even though under added noise. An accompanying video is available at the following link: https://drive.google.com/file/d/1UxyJ3XIxqXPnHcpfw-PYs5T5oYQxoc6i/view?usp=sharing

翻译：微孔板是化学和生物实验中常用的器具，其厚度仅数厘米，表面含有多排微孔。本研究旨在解决将微孔板插入高度仅数毫米的凹槽支架中的任务。该插入任务面临以下挑战：1) 微孔板及支架的位置与姿态检测存在不确定性；2) 所需精度达到毫米级甚至亚毫米级；3) 支架未被固定，受外力作用可移动；4) 凹槽深度较浅；5) 凹槽宽度狭窄。针对上述问题，我们开发了：a) 具备精确手指位置检测功能的自适应指夹持器（应对挑战1）；b) 基于触觉传感器的抓取物体位姿估计方法（应对挑战1）；c) 通过保持微孔板与支架边缘接触滑动实现插入的工艺（应对挑战2-4）；d) 通过估计边缘方向并调整微孔板姿态，实现接触过程中支架不产生位移的对齐方法（应对挑战5）。实验表明，即便在引入噪声干扰的情况下，所提方法仍能实现极高的微孔板插入成功率。配套演示视频可通过以下链接获取：https://drive.google.com/file/d/1UxyJ3XIxqXPnHcpfw-PYs5T5oYQxoc6i/view?usp=sharing