  The need for contact-rich tasks is rapidly growing in modern manufacturing
settings. However, few traditional robotic assembly skills consider
environmental constraints during task execution, and most of them use these
constraints as termination conditions. In this study, we present a
pushing-based hybrid position/force assembly skill that can maximize
environmental constraints during task execution. To the best of our knowledge,
this is the first work that considers using pushing actions during the
execution of the assembly tasks. We have proved that our skill can maximize the
utilization of environmental constraints using mobile manipulator system
assembly task experiments, and achieve a 100\% success rate in the executions.
