Abstract: On the basis of analysis of geometric and mechanics relations, this paper derives the relation between the lateral and the action/torque, and gives a different strategy for searching hole and preventing wedging and jamming. With the wrist force sensor, the experiments are processed on the AdeptOne robot. The peg-hole assembly task with the diameter of 20 mm, the clearance of 3 μm and the start lateral of 4.0 mm is realized.