Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively integrating these modalities in robotic systems is still an open problem. Our work presents an extensive analysis of the interplay between visual and tactile feedback during dexterous insertion tasks, showing that tactile sensing can greatly enhance success rates on challenging insertions with tight tolerances and varied hole orientations that vision alone cannot solve. These findings provide valuable insights for designing more effective multi-modal robotic control systems and highlight the critical role of tactile feedback in contact-rich manipulation tasks.

翻译：机器人插入任务由于感知的不确定性和对精确控制的需求而仍然具有挑战性，尤其是在非结构化环境中。人类在执行此类任务时可以无缝结合视觉和触觉，但在机器人系统中有效整合这些模态仍然是一个悬而未决的问题。我们的工作对灵巧插入任务中视觉与触觉反馈的交互作用进行了广泛分析，结果表明，在具有严格公差和不同孔方向、仅凭视觉无法解决的挑战性插入任务中，触觉感知可以极大地提高成功率。这些发现为设计更有效的多模态机器人控制系统提供了宝贵的见解，并强调了触觉反馈在接触丰富的操作任务中的关键作用。