A method for changing contact states for robotic assembly by using some local models in a multi-agent system

A method is proposed for changing contact states during robotic assembly that is based on a multi-agent system. The agents that have its own model of the local contact state transition between corners of objects are prepared. Using its own model, each local agent individually senses the contact state, plans the motion for contact state transition, and suggests its motion to another agent. This agent integrates these suggestions and determines the robot motion for changing contact states. Without revising the model according to object shapes, our method determines the robot motion for changing contact states by changing the number of local agents. Simulation of single-peg and dual-peg insertion confirmed the effectiveness of this method.