Slipping control through tactile sensing feedback

Author

De Maria, Giuseppe ; Natale, Ciro ; Pirozzi, Salvatore

Author_Institution

Dipt. di Ing. Ind. e dell´Inf., Seconda Univ. degli Studi di Napoli, Aversa, Italy

fYear

2013

fDate

6-10 May 2013

Firstpage

3523

Lastpage

3528

Abstract

The paper presents a novel slipping control algorithm based on the exploitation of the tactile sensor integrated into the DEXMART anthropomorphic robotic hand. The Extended Kalman Filter (EKF) is used to solve in real-time the nonlinear model of the sensor, allowing to estimate the contact geometry variables and the friction coefficient. The innovative proposed slipping control is based on the use of the estimation error of the EKF as an indicator of incipient slipping events. The control algorithm computes the suitable grip force based on the estimation error. The effectiveness of the proposed approach is shown with experimental results.

Keywords

Kalman filters; feedback; friction; grippers; manipulators; slip; tactile sensors; DEXMART anthropomorphic robotic hand; EKF estimation error; contact geometry variable estimation; extended Kalman filter; friction coefficient; grip force; incipient slipping events; sensor nonlinear model; slipping control algorithm; tactile sensing feedback; tactile sensor; Estimation error; Force; Friction; Geometry; Tactile sensors; Vectors; Extended Kalman Filter; Slipping Control; Tactile Sensing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2013 IEEE International Conference on

Conference_Location

Karlsruhe

ISSN

1050-4729

Print_ISBN

978-1-4673-5641-1

Type

conf

DOI

10.1109/ICRA.2013.6631070

Filename

6631070