Position-force combination control with passive flexibility for versatile in-hand manipulation based on posture interpolation

Or, Keung; Tomura, Mami; Schmitz, Alexander; Funabashi, Satoshi; Sugano, Shigeki

doi:10.1109/iros.2016.7759395

Cited by 7 publications

(7 citation statements)

References 19 publications

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“…The sensor is 10 mm wide and 8 mm high. A robotic fingertip that is multi-modal and can measure distributed single-axis force 1 http://www.touchence.jp/ 2 http://optoforce.com/ is available from SynTouch 3 . However, this sensor is very expensive.…”

Section: Related Workmentioning

confidence: 99%

“…The manufacturing process was divided into two steps. We produced the fingertip based on the same shape that was previously introduced in [1]. 1) Electronics: Since the fingertip does not have a flat surface, we use a flexible PCB that can conform to the contour of the surface.…”

Section: B Manufacturing Processmentioning

confidence: 99%

“…Soft skin has been proven effective to increase the object manipulation performance in robots. As stated in [1], by covering a fingertip with soft silicone, the in-hand manipulation performance becomes more stable. Moreover, many researchers have applied soft skin sensors on their humanoid robots for enhanced safety and object handling.…”

Section: Introductionmentioning

confidence: 99%

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Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands

Tomo

Schmitz

Wong

et al. 2018

IEEE Robot. Autom. Lett.

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125

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Distributed tactile sensing is crucial to perform stable, subtle, and precise manipulation so that a robot can recognize and handle objects properly. However, currently existing skin sensors still have common problems such as complex and expensive production or are difficult to integrate into robot hands. In particular, a practical distributed soft skin sensor system that can cover various parts of the robot hand, measure force in 3axis, with a subcentimeter spatial density, and digital output at the same time does not exist yet. This paper discusses uSkin, a soft, distributed, 3-axis force sensor for robot hands and presents its implementation for multi-curved fingertips. The sensor is lowcost, easy to manufacture, and can measure normal and shear forces. The experimental results revealed that this sensor has 10% hysteresis for perpendicular force with a maximum range of 6 N. The Signal to Noise Ratio (SNR) value of 54 dB for 0.4 N load was achieved, which constitutes the state of the art for this kind of sensors. Evaluation experiments also showed that the distributed 3-axis load cells could produce vectors that represent the shape of objects. This opens the possibility that the sensor can be used for classifying different shapes. Furthermore, the fingertip sensor was installed on the Allegro hand and the changing force measurements when the robot is grasping an object are presented.

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Section: Related Workmentioning

confidence: 99%

Section: B Manufacturing Processmentioning

confidence: 99%

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Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands

Tomo

Schmitz

Wong

et al. 2018

IEEE Robot. Autom. Lett.

Self Cite

125

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“…The calculation for the i-th iteration of μ t,i is as shown in (5), where a and b are the two adjustment parameters. a determines the maximum viscosity, that is, the maximum multiple of the density increase of the sampling point.…”

Section: Slerp Based On Improved Orientation Vectormentioning

confidence: 99%

“…And the smoothness of orientation movement and the precision of interpolation control are really important. 5 Meanwhile, the motion control of the robots needs to simultaneously generate the trajectory of the position and the attitude of the end operator. 6 Many researchers have studied the trajectory generation and interpolation problems of robots.…”

Section: Introductionmentioning

confidence: 99%

Research on Attitude Interpolation and Tracking Control Based on Improved Orientation Vector SLERP Method

Dong¹,

Yao²,

Li³

et al. 2019

Robotica

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SummaryIn order to make the end of the three-axis platform follow the control command and achieve stable control of the end attitude, an improved orientation vector spherical linear interpolation (SLERP) method is proposed for the requirements, which specifically handles the position of the gimbal lock, so that the platform can move smoothly around the gimbal lock position. A three-axis platform with a camera at the end is set up for the validity of the proposed algorithm. At first, an adaptive speed measurement method based on incremental encoder is introduced, which can automatically adapt to high and low speed, and estimate the ultra-low speed to realize the speed measurement of large dynamic range, and this is used for the motion control of the three-axis platform. Then, the SLERP method for the quaternion interpolation on the starting and ending attitudes represented in quaternion is introduced in detail, and it is continuously improved in response to its existing problems for the platform. Finally, an orientation vector SLERP method is proposed, which uses viscosity factor and rejection factor to adjust the algorithm near the platform’s gimbal lock position. A tracking experiment was designed using the red ball as the following target detected by the designed target tracking algorithm using the camera, which verified the effectiveness of the attitude tracking control based on the proposed improved orientation vector SLERP.

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An Artificial Skin for Detecting Pressure and Shear Forces simultaneously based on Capacitive Sensor and Magnetic Sensor

Huang

Kuo

2019

2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Position-force combination control with passive flexibility for versatile in-hand manipulation based on posture interpolation

Cited by 7 publications

References 19 publications

Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands

Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands

Research on Attitude Interpolation and Tracking Control Based on Improved Orientation Vector SLERP Method

An Artificial Skin for Detecting Pressure and Shear Forces simultaneously based on Capacitive Sensor and Magnetic Sensor

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