Paper Info
Title
Integrated force/tactile sensing: The enabling technology for slipping detection and avoidance
Abstract
This paper proposes an experimental study of slipping avoidance algorithms based on force/tactile perception data. The claim is that contact force measurements alone or tactile data alone are not sufficient for an effective slipping avoidance strategy in real world conditions. Integrated force/tactile sensors able to provide measurements of both the contact force vector and spatially distributed tactile maps are the key enabling technology for efficient slipping avoidance control algorithms that can actually work with real world objects under no restricting assumption on the contact geometry or with unknown physical properties of the objects. The paper proposes a new slipping avoidance control scheme, which usefully exploits an integrated force/tactile sensor mounted on the parallel gripper of a Kuka youBot. The results show how the strategy successfully allows the robot to safely manipulate real-world objects, both rigid and compliant, in various friction conditions of their surface, both stable and slippery.
Year
DOI
Venue
2015
10.1109/ICRA.2015.7139740
IEEE International Conference on Robotics and Automation
Keywords
Field
DocType
collision avoidance,force sensors,geometry,mobile robots,tactile sensors,vectors,Kuka youBot,contact force measurements,contact force vector,contact geometry,friction conditions,integrated force sensing,parallel gripper,physical properties,real-world objects,slipping avoidance control algorithms,slipping detection,spatially distributed tactile maps,tactile sensing
Slipping,Control algorithm,Contact geometry,Control theory,Simulation,Contact force,Control engineering,Engineering,Robot,Grippers,Tactile sensor
Conference
Volume
Issue
ISSN
2015
1
1050-4729
Citations 
PageRank 
References 
4
0.45
9
Authors
4
Name
Order
Citations
PageRank
g de maria1135.49
Pietro Falco2366.13
Ciro Natale319430.24
Salvatore Pirozzi411215.28