Study of deformation and insertion tasks of a flexible wire

Insertion of a flexible wire into a hole is a difficult task because the wire has a tendency to buckle under external forces. Moreover, the plastic deformation occurs on a flexible wire when the force acting on the wire is big. In this paper, we propose a method of inserting a flexible wire whereby a force acts on the wire and the shape of the wire is observed by stereo vision. A strategy to transform the deformed wire to the straight one and to insert the wire into a hole is presented. Finally, some experimental results are shown