Similar assembly state discriminator for reinforcement learning-based robotic connector assembly

In practice, the process of robot assembly in an unstructured environment faces difficulties due to the presence of unpredictable environmental errors related to vision and pose. Therefore, to minimize the uncertain environmental errors during the robotic assembly process in an unstructured environment, several studies have considered a reinforcement learning (RL)-based approach. However, if assembly parts are changed, it becomes difficult to apply RL-based methods to assemble various parts because additional learning may be required. Especially in the case of connector assembly, fine-tuning is essential because the shape changes depending on the type of connector. In this study, we propose a similar assembly state discriminator that transforms the state information (force, velocity, and RGB image) of reinforcement learning into generalized features to respond various types of connector assembly tasks. This method processes the data to include essential features for assembly regardless of connector type. By learning the RL model with the processed data using this method, the RL model trained for a specific connector can be efficiently applied to other types of connectors without fine-tuning. The assembly success rate for the 7 types of connectors (Harting, HDMI, USB, power, air jack, banana plug and PCIE) using the proposed method was demonstrated to be over 96 %.