# Robot peg-in-hole assembly based on contact force estimation compensated by convolutional neural network

> Research article (Control Engineering Practice, 2021) · cited 23× · AI/ML

**Wikidata**: [openalex:W4205206678](https://www.wikidata.org/wiki/openalex:W4205206678)  
**Source**: https://4ort.xyz/entity/robot-peg-in-hole-assembly-based-on-contact-force-estimation-compensated-by-convolutional-neural-network