Title :
Augmentation of grasp robustness using intrinsic tactile sensing
Author :
Bicchi, Antonio ; Salisbury, J. Kenneth ; Dario, Paolo
Author_Institution :
Fac. of Eng., Pisa Univ., Italy
Abstract :
The authors discuss the application of intrinsic tactile sensing (ITS) to grasp and manipulation control. A brief description of ITS, i.e., contact sensing based on force/torque measurements at fingertips, is provided. A method for using sensory feedback in the control of grasp forces to augment grasp robustness against slippage is discussed with respect to a simple grasp type; simulation and experimental data are provided. The possible generalization of this sensor-driven approach to the control of optimal grasp force in complex grasp configurations is addressed
Keywords :
feedback; force control; robots; stability; tactile sensors; contact sensing; fingertips; force/torque measurements; grasp robustness; intrinsic tactile sensing; manipulation control; optimal grasp force; sensory feedback; slippage; Fingers; Force control; Force measurement; Force sensors; Friction; Grippers; Robot sensing systems; Robust control; Robustness; Shape;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100005
