This is the ultimate problem right now as I see it:Robotics Institute: Force Guided Assembly Under Bias: "Humans are able to pump gas into a car with little or no difficulty. This task is characterized by two sources of force: that from the nozzle contacting the car and that from the hose attached to the pump. The task succeeds due to the appreciable skill of a human and a forgiveness in the connection. The robotic mating of connectors burdened by forces from sources like the gas hose is beyond the current state of art. The research presented in this dissertation develops technology for robots to mate connectors that concurrently experience appreciable forces from encumbrances, like those from hoses, cables and oscillating masses, in addition to forces from contact"