Stereo-Based Vision and Tactile Sensing for Robust Dual-Arm Robotic Connector Assembly

Michele Mirto, Alessio Caporali, Salvatore Pirozzi, Gianluca Palli

Keywords: Intelligent and Flexible Manufacturing, Assembly, Dual Arm Manipulation

Abstract: The automation of Deformable Linear Object (DLO) manipulation remains a key challenge in industrial production, where tasks such as connector assembly are still largely performed manually. Although prior work has demonstrated reliable wire terminal pose estimation and insertion monitoring using vision and tactile sensing, these approaches typically assume a fixed and known connector pose, limiting their applicability in flexible manufacturing scenarios. This paper presents a dual-arm robotic system for fully autonomous connector assembly. The proposed setup employs two manipulators: one dedicated to wire perception and insertion, and the other to connector localization and manipulation. A stereo vision system enables robust 6D pose estimation of the wire terminal, while a custom mechatronic gripper with integrated tactile sensing supports accurate insertion monitoring. In parallel, the second arm performs connector grasping. By combining complementary visual and tactile feedback across both manipulators, the system achieves the precision required for tight-tolerance insertion tasks without relying on fixed fixtures. Experimental results demonstrate the effectiveness of the proposed approach in realistic scenarios, highlighting improved robustness and flexibility compared to single-arm solutions.

Submission Number: 11