A Slip Detection and Correction Strategy for Precision Robot Grasping
This paper presents a grasp force regulation strategy for precision grasps. The strategy makes no assumptions about object properties and surface characteristics, and can be used with a wide range of grippers. It has two components, a slip signal detector that computes the magnitude of slip and a gr...
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| Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2016-10, Vol.21 (5), p.2214-2226 |
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| container_title | IEEE/ASME transactions on mechatronics |
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| creator | Stachowsky, Michael Hummel, Thomas Moussa, Medhat Abdullah, Hussein A. |
| description | This paper presents a grasp force regulation strategy for precision grasps. The strategy makes no assumptions about object properties and surface characteristics, and can be used with a wide range of grippers. It has two components, a slip signal detector that computes the magnitude of slip and a grasping force set point generator that acts on the detector's output. The force set point generator is designed to ensure that slip is eliminated without using excessive force. This is particularly important in several situations like grasping fragile objects or in-hand manipulation of thin small objects. Several experiments were conducted to simulate various grasping scenarios with different objects. Results show that the strategy was very successful in dealing with uncertainty in object mass, surface characteristics, or rigidity. The strategy is also insensitive to robot motion. |
| doi_str_mv | 10.1109/TMECH.2016.2551557 |
| format | Article |
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The strategy makes no assumptions about object properties and surface characteristics, and can be used with a wide range of grippers. It has two components, a slip signal detector that computes the magnitude of slip and a grasping force set point generator that acts on the detector's output. The force set point generator is designed to ensure that slip is eliminated without using excessive force. This is particularly important in several situations like grasping fragile objects or in-hand manipulation of thin small objects. Several experiments were conducted to simulate various grasping scenarios with different objects. Results show that the strategy was very successful in dealing with uncertainty in object mass, surface characteristics, or rigidity. The strategy is also insensitive to robot motion.</description><identifier>ISSN: 1083-4435</identifier><identifier>EISSN: 1941-014X</identifier><identifier>DOI: 10.1109/TMECH.2016.2551557</identifier><identifier>CODEN: IATEFW</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Control ; Detectors ; Entrepreneurs ; Force ; Generators ; Grasping ; Owner operator ; robot control ; Robot dynamics ; Robot motion ; Robot sensing systems ; Robots ; Slip ; Strategy ; Surface properties ; tactile sensors</subject><ispartof>IEEE/ASME transactions on mechatronics, 2016-10, Vol.21 (5), p.2214-2226</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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The strategy makes no assumptions about object properties and surface characteristics, and can be used with a wide range of grippers. It has two components, a slip signal detector that computes the magnitude of slip and a grasping force set point generator that acts on the detector's output. The force set point generator is designed to ensure that slip is eliminated without using excessive force. This is particularly important in several situations like grasping fragile objects or in-hand manipulation of thin small objects. Several experiments were conducted to simulate various grasping scenarios with different objects. Results show that the strategy was very successful in dealing with uncertainty in object mass, surface characteristics, or rigidity. The strategy is also insensitive to robot motion.</description><subject>Control</subject><subject>Detectors</subject><subject>Entrepreneurs</subject><subject>Force</subject><subject>Generators</subject><subject>Grasping</subject><subject>Owner operator</subject><subject>robot control</subject><subject>Robot dynamics</subject><subject>Robot motion</subject><subject>Robot sensing systems</subject><subject>Robots</subject><subject>Slip</subject><subject>Strategy</subject><subject>Surface properties</subject><subject>tactile sensors</subject><issn>1083-4435</issn><issn>1941-014X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2016</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkE1LwzAYx4MoOKdfQC8FL1468-St6XHMuQkTxU3wFtIkHR1dU5PusG9v54YHT88Lv__Dww-hW8AjAJw_rl6nk_mIYBAjwjlwnp2hAeQMUgzs67zvsaQpY5RfoqsYNxhjBhgGaDpOlnXVJk-uc6arfJPoxiYTH8JpXHZBd269T0ofkvd-W8XD-sMXvktmQce2atbX6KLUdXQ3pzpEn8_T1WSeLt5mL5PxIjU0Z11qtCsKazNnMmcxkSVxmuRcWEYx5kIKAcYwQSXV2FqTkQKywkqtQRgnbU6H6OF4tw3-e-dip7ZVNK6udeP8LiqQlAtOCKY9ev8P3fhdaPrvegoIZ4II3lPkSJngYwyuVG2otjrsFWB1MKt-zaqDWXUy24fujqHKOfcXyBiTMs_oD6A1dCw</recordid><startdate>201610</startdate><enddate>201610</enddate><creator>Stachowsky, Michael</creator><creator>Hummel, Thomas</creator><creator>Moussa, Medhat</creator><creator>Abdullah, Hussein A.</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>F28</scope><orcidid>https://orcid.org/0000-0002-7252-1767</orcidid></search><sort><creationdate>201610</creationdate><title>A Slip Detection and Correction Strategy for Precision Robot Grasping</title><author>Stachowsky, Michael ; Hummel, Thomas ; Moussa, Medhat ; Abdullah, Hussein A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c394t-caebbdd7ec7ed028f2ea2956d4300568661cc46383a0ddc72b17bd8aa16ce8d93</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2016</creationdate><topic>Control</topic><topic>Detectors</topic><topic>Entrepreneurs</topic><topic>Force</topic><topic>Generators</topic><topic>Grasping</topic><topic>Owner operator</topic><topic>robot control</topic><topic>Robot dynamics</topic><topic>Robot motion</topic><topic>Robot sensing systems</topic><topic>Robots</topic><topic>Slip</topic><topic>Strategy</topic><topic>Surface properties</topic><topic>tactile sensors</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Stachowsky, Michael</creatorcontrib><creatorcontrib>Hummel, Thomas</creatorcontrib><creatorcontrib>Moussa, Medhat</creatorcontrib><creatorcontrib>Abdullah, Hussein A.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE/ASME transactions on mechatronics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Stachowsky, Michael</au><au>Hummel, Thomas</au><au>Moussa, Medhat</au><au>Abdullah, Hussein A.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A Slip Detection and Correction Strategy for Precision Robot Grasping</atitle><jtitle>IEEE/ASME transactions on mechatronics</jtitle><stitle>TMECH</stitle><date>2016-10</date><risdate>2016</risdate><volume>21</volume><issue>5</issue><spage>2214</spage><epage>2226</epage><pages>2214-2226</pages><issn>1083-4435</issn><eissn>1941-014X</eissn><coden>IATEFW</coden><abstract>This paper presents a grasp force regulation strategy for precision grasps. The strategy makes no assumptions about object properties and surface characteristics, and can be used with a wide range of grippers. It has two components, a slip signal detector that computes the magnitude of slip and a grasping force set point generator that acts on the detector's output. The force set point generator is designed to ensure that slip is eliminated without using excessive force. This is particularly important in several situations like grasping fragile objects or in-hand manipulation of thin small objects. Several experiments were conducted to simulate various grasping scenarios with different objects. Results show that the strategy was very successful in dealing with uncertainty in object mass, surface characteristics, or rigidity. The strategy is also insensitive to robot motion.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TMECH.2016.2551557</doi><tpages>13</tpages><orcidid>https://orcid.org/0000-0002-7252-1767</orcidid></addata></record> |
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| source | IEEE Electronic Library (IEL) |
| subjects | Control Detectors Entrepreneurs Force Generators Grasping Owner operator robot control Robot dynamics Robot motion Robot sensing systems Robots Slip Strategy Surface properties tactile sensors |
| title | A Slip Detection and Correction Strategy for Precision Robot Grasping |
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