A Biologically Inspired Sensor for the Prevention of Object Slip during Robotic Grasping and Manipulation
نویسنده
چکیده
In this paper, we present an overview of our work in the development, realization, dynamic analysis, and simulation of an innovative sensing method for the prevention of object slip during robotic grasping and manipulation. The new sensor is biologically inspired, and measures the extension of a rubber skin to detect impending slip before it occurs, and to provide feedback for active control of the finger contact force during grasping. The sensor has low size and weight, and does not interfere with the finger-object interface. Comparison between experiments and simulation have yielded very good agreement, and we are extending the simulations to the case of a three-fingered gripper with slip-sensing capability that grasps an asymmetric and varying load using minimum contact forces. The simulations will be used to optimise the design parameters and control strategies of the gripper.
منابع مشابه
Slip Detection and Classification for Grip Control using Multiple Sensory Modalities on a Biomimetic Tactile Sensor
Achieving human-level performance in dexterous grasping tasks will likely require richer tactile sensing than is currently available [1]. Recently, biomimetic tactile sensors, designed to provide more humanlike capabilities, have been developed. These new sensors provide an opportunity to significantly improve the robustness of robotic manipulation. In order to take full advantage of the inform...
متن کاملFingertip Radius Effect of an on-Surface-Manipulated Object
Cooperative arms are two or more arms in series which assume the structure of a parallel robot on account of gripping an intermediary object, and are commonly used in accurate assembly industries, coaxialization, movement of object, etc. Gripping an intermediary object is one of the complicated subjects in analysis of cooperative arms, whose analysis is mostly dependent upon the manner the obje...
متن کاملGrasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter
The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces-such as metal, paper, film, and so on-thus suggesting the potential applic...
متن کاملSlip Detection with Combined Tactile and Visual Information
Slip detection plays a vital role in robotic manipulation and it has long been a challenging problem in the robotic community. In this paper, we propose a new method based on deep neural network (DNN) to detect slip. The training data is acquired by a GelSight tactile sensor and a camera mounted on a gripper when we use a robot arm to grasp and lift 94 daily objects with different grasping forc...
متن کاملPicking up a soft 3D object by "feeling" the grip
This paper describes a strategy for a robotic hand to pick up deformable 3D objects on a table. Inspired by human hand behavior, the robotic hand employs two rigid fingers to first squeeze such an object until it “feels” the object to be liftable. Such “feeling” is provided by a (virtual) liftability test that is repeatedly conducted during the squeeze. Passing of the test then triggers a lifti...
متن کامل