DocumentCode
580697
Title
A locally adaptive online grasp control strategy using array sensor force feedback
Author
Stachowsky, Mike ; Moussa, Medhat ; Abdullah, Hussein
Author_Institution
Sch. of Eng., Univ. of Guelph, Guelph, ON, Canada
fYear
2012
fDate
7-12 Oct. 2012
Firstpage
4060
Lastpage
4065
Abstract
This paper presents a novel control strategy for a grasping free form unknown objects. The strategy adapts online the grasping forces applied at each contact point based on a bio-inspired criterion that reflects the total change in the measured force at each contact point. Experimental results with a two-fingered gripper equipped with tactile array sensors are provided. It shows that the adaptation can reach a stable grasp in less than 50ms from the initial contact.
Keywords
adaptive control; dexterous manipulators; force feedback; grippers; sensor arrays; tactile sensors; adaptive online grasp control strategy; array sensor force feedback; bioinspired criterion; contact point; grasping forces; grasping free form unknown objects; tactile array sensors; two-fingered gripper; Arrays; Force; Grasping; Grippers; Humans; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location
Vilamoura
ISSN
2153-0858
Print_ISBN
978-1-4673-1737-5
Type
conf
DOI
10.1109/IROS.2012.6385926
Filename
6385926
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