Method and system for controlling robot pose using force/torque sensor-based pose estimation

A system for controlling a robot pose using force/torque sensor-based pose estimation, the system comprising:

• a communication unit configured to communicate with a robot;
• and
• a control unit configured to control the robot in a direction in which a peg is inserted into a hole by using the robot gripping the peg,
• wherein the control unit:
• detects an initial contact state in which the peg contacts an initial position of the hole;
• senses initial data sensed by the contact in response to the initial contact state;
• controls the robot such that the peg additionally contacts the hole at a position different from the initial position;
• senses additional data sensed by the additional contact;
• inputs the initial data and the additional data into a pre-trained pose estimation model;
• acquires a relative pose of the peg and the hole inferred by the pose estimation model;
• and
• controls the pose of the robot based on the relative pose of the peg and the hole such that the peg is moved and inserted into the hole.

A method for controlling a robot pose using force/torque sensor-based pose estimation, the method comprising:

• controlling a robot in a direction in which a peg is inserted into a hole by using the robot gripping the peg;
• detecting a first contact state in which the peg contacts the hole, and sensing first contact data sensed by the first contact;
• sensing second contact data sensed by second contact in a second contact state in which the peg is moved and the peg and the hole contact at another position;
• inferring a relative pose of the peg and the hole by inputting the first contact data and the second contact data and peg movement amount from the first contact state to the second contact state into a pose estimation model;
• and
• sequentially controlling movement of the peg while comparing the relative pose with a target pose, such that the peg is inserted into the hole.