# Compliant Peg-in-Hole Assembly Using Partial Spiral Force Trajectory With Tilted Peg Posture

> Research article (IEEE Robotics and Automation Letters, 2020) · cited 64× · AI/ML

**Wikidata**: [openalex:W3032921928](https://www.wikidata.org/wiki/openalex:W3032921928)  
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