2026-06-18原文2 min readUpdated: 2026-06-18

Admittance-Based Surface Alignment for Human-in-the-Loop Robotic Visual Inspection

This paper presents a real-time closed-loop robotic orientation control pipeline for precision visual inspection, using an admittance-based framework that unifies operator input and perception-driven surface alignment. The end-effector is modeled as a virtual sphere in a viscous medium, creating a mass-damper system for compliant motion. Validated on a 6-DOF manipulator with a mean orientation error of 0.4°.

SourcearXiv RoboticsAuthor: Antara Banerjee, Colin Acton, Xu Chen

[2606.18601] Admittance-Based Surface Alignment for Human-in-the-Loop Robotic Visual Inspection

[Submitted on 17 Jun 2026]

Title:Admittance-Based Surface Alignment for Human-in-the-Loop Robotic Visual Inspection

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Abstract:Precision visual inspection underpins quality assurance across aerospace, semiconductor, and medical manufacturing, where undetected surface anomalies on high-value parts translate directly into scrap, rework, and field failures. Robotic visual inspection requires precise alignment between the end-effector and local surface geometry in the presence of perception noise and surface irregularities. In industrial settings, a human operator is often kept in the loop via teleoperation or shared autonomy, introducing real-time adjustments that render purely offline motion planning inadequate. This motivates control architectures capable of reactive, compliant behavior under combined human and perceptual uncertainty. This paper presents a novel real-time, closed-loop robotic orientation control pipeline for precision visual inspection, with an admittance-based framework that unifies operator input and perception-driven surface alignment. We design the end-effector as a virtual sphere moving through a viscous medium, such that the resulting physically interpretable mass--damper system generates synchronized, compliant motion from orientation error and operator commands. We validate the framework on a 6-DOF manipulator demonstrating stable normal-tracking and a final mean orientation error of 0.4°.

Subjects:

Robotics (cs.RO)

Cite as: arXiv:2606.18601 [cs.RO]

(or arXiv:2606.18601v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.18601

arXiv-issued DOI via DataCite (pending registration)

Submission history

From: Colin Acton [view email] [v1] Wed, 17 Jun 2026 02:01:51 UTC (3,521 KB)

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