Robots operating in the real world face significant but unavoidable issues in object localization that must be dealt with. A typical approach to address this is the addition of compliance mechanisms to hardware to absorb and compensate for some of these errors. However, for fine-grained manipulation tasks, the location and choice of appropriate compliance mechanisms are critical for success. For objects to be inserted in a target site on a flat surface, the object must first be successfully aligned with the opening of the slot, as well as correctly oriented along its central axis, before it can be inserted. We developed the Four-Axis Adaptive Finger Hand (FAAF hand) that is equipped with fingers that can passively adapt in four axes (x, y, z, yaw) enabling it to perform insertion tasks including lid fitting in the presence of significant localization errors. Furthermore, this adaptivity allows the use of simple control methods without requiring contact sensors or other devices. Our results confirm the ability of the FAAF hand on challenging insertion tasks of square and triangle-shaped pegs (or prisms) and placing of container lids in the presence of position errors in all directions and rotational error along the object's central axis, using a simple control scheme.

翻译：在现实世界中运行的机器人在物体定位方面面临着显著但不可避免的问题，这些问题必须得到处理。解决此问题的典型方法是在硬件上增加顺应性机构，以吸收和补偿部分误差。然而，对于细粒度操作任务，适当顺应性机构的位置和选择对成功至关重要。对于要在平面上目标位置插入的物体，必须首先成功将物体与槽口对齐，并沿其中心轴正确定向，然后才能插入。我们开发了四轴自适应手指手（FAAF手），其配备的手指能够在四个轴（x、y、z、偏航）上被动适应，使其能够在存在显著定位误差的情况下执行插入任务，包括盖子装配。此外，这种适应性允许使用简单的控制方法，而无需接触传感器或其他设备。我们的结果证实了FAAF手在具有挑战性的插入任务中的能力，包括方形和三角形销（或棱柱）的插入以及容器盖子的放置，这些任务在所有方向上存在位置误差以及沿物体中心轴的旋转误差，并且使用了简单的控制方案。