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The need for contact-rich tasks is rapidly growing in modern manufacturingsettings. However, few traditional robotic assembly skills considerenvironmental constraints during task execution, and most of them use theseconstraints as termination conditions. In this study, we present apushing-based hybrid position/force assembly skill that can maximizeenvironmental constraints during task execution. To the best of our knowledge,this is the first work that considers using pushing actions during theexecution of the assembly tasks. We have proved that our skill can maximize theutilization of environmental constraints using mobile manipulator systemassembly task experiments, and achieve a 100\% success rate in the executions.

Maximizing the Use of Environmental Constraints: A Pushing-Based Hybrid Position/Force Assembly Skill for Contact-Rich Tasks