Haptic–Vision Fusion for Accurate Position Identification in Robotic Multiple Peg-in-Hole Assembly

摘要

Multi-peg-hole assembly is a fundamental process in robotic manufacturing, particularly for circular aviation electrical connectors (CAECs) that require precise axial alignment. However, CAEC assembly poses significant challenges due to small apertures, posture disturbances, and the need for high error tolerance. This paper proposes a dual-stream Siamese network (DSSN) framework that fuses visual and tactile modalities to achieve accurate position identification in six-degree-of-freedom robotic connector assembly tasks. The DSSN employs ConvNeXt for visual feature extraction and SE-ResNet-50 with integrated attention mechanisms for tactile feature extraction, while a gated attention module adaptively fuses multimodal features. A bidirectional long short-term memory (Bi-LSTM) recurrent neural network is introduced to jointly model spatiotemporal deviations in position and orientation. Compared with state-of-the-art methods, the proposed DSSN achieves improvements of approximately 7.4%, 5.7%, and 5.4% in assembly success rates after 1, 5, and 10 buckling iterations, respectively. Experimental results validate that the integration of multimodal adaptive fusion and sequential spatiotemporal learning enables robust and precise robotic connectors assembly under high-tolerance conditions.