Slip based pick-and-place by universal robot hand with force/torque sensors

Kobayashi, Futoshi; Kanno, Hayato; Nakamoto, Hiroyuki; Kojima, Fumio

doi:10.1109/riiss.2014.7009185

Cited by 2 publications

(2 citation statements)

References 15 publications

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“…F. Kobayashi et al [13] used force/torque sensor, which measures pressure distribution to detect slip. Rather than increasing gripping force, it was proposed more fingers to be applied in order to stop slipping, from the previous research, the remarks can be concluded as follows: (1) Most literatures focused on the location of the sensor so as not to affect the performance of the robotic or prosthetic hands; (2) Some approaches have been used a camera as a vision sensor to estimate the eccentricity degree of contact region, with this approach there is a problem, how to embed camera in relatively small size places like hands.…”

Section: Introduction and Previous Workmentioning

confidence: 99%

Slip Detection for a Specific Design of Fingertip in Multi-Direction Under Different Load Conditions

Tawfik¹,

Baqer²,

Abdulrazzaq³

2019

JEASD

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In this paper, a novel design of robotic fingertip has been proposed to detect slippage between the robotic fingertip and the grasped object in multi-direction under different types of loads (static and dynamic loads). The detection process is based on the monitoring of variation in the normal to the tangential component of contact force ratios. The fingertip is composed of a compression springs and a conventional force sensors that are mounted to be able to measure the contact force components continuously. A mathematical model has been derived relative to a proposed design with the help of Matlab-Simulink program. Furthermore, the robotic hand mechanism contains the flexible parts to adapt the grasping force during the slippage occurrence period in spite of the hand actuator is in a stopped status. The grasped object is designed in a cube shape with two unbalance DC motors to generate an excitation that is used as an external dynamic load. The experimental results revealed that the proposed design for detecting slippage in multi-direction is feasible and effective for improving the stability of the grasping process.

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Section: Introduction and Previous Workmentioning

confidence: 99%

Slip Detection for a Specific Design of Fingertip in Multi-Direction Under Different Load Conditions

Tawfik¹,

Baqer²,

Abdulrazzaq³

2019

JEASD

View full text Add to dashboard Cite

show abstract

“…In order to maintain a stable grasp, the ratio of exerted tangential force to normal force should be maintained within the friction cone [11]. Kobayashi et al [12] used force/torque sensors to measure pressure distribution in order to detect slip. Instead of increasing grasping force, they propose to increase the number of applied fingers to stop slip.…”

Section: Introduction and Related Workmentioning

confidence: 99%

Tactile-based manipulation of deformable objects with dynamic center of mass

Kaboli

Yao

Cheng

2016

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

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Abstract-Tactile sensing feedback provides feasible solutions to robotic dexterous manipulation tasks. In this paper, we present a novel tactile-based framework for detecting/correcting slips and regulating grasping forces while manipulating deformable objects with the dynamic center of mass. This framework consists of a tangential force based slip detection method and a deformation prevention approach relying on weight estimation. Moreover, we propose a new strategy for manipulating deformable heavy objects. Objects with different stiffnesses, surface textures, and centers of mass are tested in experiments. Results show that proposed approaches are capable of handling objects with uncertainties in their characteristics, and also robust to external disturbances.

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Slip based pick-and-place by universal robot hand with force/torque sensors

Cited by 2 publications

References 15 publications

Slip Detection for a Specific Design of Fingertip in Multi-Direction Under Different Load Conditions

Slip Detection for a Specific Design of Fingertip in Multi-Direction Under Different Load Conditions

Tactile-based manipulation of deformable objects with dynamic center of mass

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