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The problem of dexterous robotic manipulation of rigid objects by means of a cooperative robotic system is addressed in this paper. It is assumed that the robots can only push the object (unilateral constraints). In order to solve the aforementioned control problem, a centralized control algorithm with bounded torque inputs based on the Orthogonalization Principle and second order sliding mode control...
In-hand manipulation is often needed to accomplish a practical task after grasping an object. In-hand manipulation of variously sized and shaped objects in multi-fingered hands without dropping the object is challenging. In this paper we suggest a combined strategy of force control and passive adaptation through soft fingertips with simple interpolation control to achieve in-hand manipulation between...
In our research work we designed a robotic gripper for industrial robotic arm which is capable of grasping any rigid as well as delicate objects. Our control system produces an adequate force to grasp any object. In this paper, we designed a gripper mechanism and a controller. Force sensor was fixed at the gripper finger to collect the force values while grasping. We implemented proportional-integral-derivative...
Force control is one of the most important schemes in many industrial applications, especially in painting and grasping tasks. In practice, the proper control parameters in force controller is not easy because the performance of entire system does not only depend on the actuator dynamic, but also the environment and grasped object. In addition, several applications need to use the force control system...
The paper treats a class of hyper-redundant robots with continuous elements, which performs the function of grasping by coil. First, the dynamic model of the system is deduced. Laws of control are introduced based on the system's energy for force control problem. It is proposed a method of controlling the force using the DSMC method, showing the evolution of the system on the switching line by controlling...
Dynamic grasping force control for a multi-fingered robot hand is proposed and investigated in this paper. The grasping force of the finger is dynamically adjusted according to the three-axis tactile feedback so that each fingertip force always stays inside the friction cone detected by the fingertip three-axis tactile sensor without any undesired slip nor detaching from the object while grasping...
The flying hand is a robotic hand consisting of a swarm of UAVs able to grasp an object where each UAV contributes to the grasping task with a single contact point at the tooltip. The swarm of robots is teleoperated by a human hand whose fingertip motions are tracked, e.g., using an RGB-D camera. We solve the kinematic dissimilarity of this unique master-slave system using a multi-layered approach...
It is highly important to avoid damage to the objects during robotic grasping and manipulation, a parallel control strategy for a master-slave finger of robot hands is proposed in this paper. The PID controller is adopted in the position control system of the master finger, and simultaneously explicit force control is used to the slave system which external force loops are closed around the position...
Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in remote and/or hazardous environments, such as hot cells, glove boxes, decommissioning, explosive disarmament, and space to name a few. In order to achieve this end the research presented in this paper has developed an admittance-type exoskeleton...
Various humanoid robots and multi-fingered robot hands are used in research and development. As these robot hands grasp and manipulate an object, the control phase is divided into an “approach phase” and a “manipulation phase.” In the approach phase, a position control method is necessary to control the posture of the robot hand. In the manipulation phase, a force control method is necessary to control...
In this study, we achieve haptic communication between different structures. In haptic communication, tactile sensation is transmitted to a remote place by cooperating robots. Conventional haptic communication is implemented under the assumption that the masses of the actuators are equal. We have found that haptic communication system is a kind of position/force hybrid control system and that it is...
Humans can change their grasping force before the grasped object unconsciously slips off their fingers. This reflex is called the grasping force control reflex. This paper describes the methods used to induce reflective grasping force control and presents the observed results. To clarify the stimulus conditions needed to induce reflective grasping force control, we developed an observation device...
Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits a resistance change of the pressure conductive rubber. This sensor distinguishes between both contact and initial slip by using a complicated resistance change just before slippage of object is generated...
A goal of our research is to produce a light-weight, low-cost five fingered robotic hand that has similar degrees of freedom as a human hand. The joints in the fingers of the developed robotic hand are powered by a newly proposed strings transmission named “Twist Drive”. The transmission converts torque into a pulling force by using a pair of strings that twist on each other. The basic characteristics...
Viscoelastic materials are known to exhibit temporal response that changes force or displacement at the contact interface under position or force control, respectively. In this paper, we conduct experimental study using force control to explore and observe creep phenomenon in robotic grasping in order to better understand the nature of such contact interface, which has been widely used in soft robotic...
A force controller and an adaptive controller are presented for a prosthetic hand. The adaptive controller modulates the force feedback gain based on the detected stiffness of the grasped object. The results from benchtop experiments indicate statistically significant improvements in the system response when using the adaptive controller as well as a reduction of oscillatory behavior.
This paper presents a new methodology for detecting incipient slip for intelligent grasping. A new inductive sensor was designed and developed to achieve this task. A full description of the structure of the new sensor is included in this paper. The three elements required for a successful robotic grasping were examined using the newly designed sensor. These elements are incipient slip, grip force...
This article presents an intelligent fuzzy rule-based approach for computing optimal set of joints torques, for manipulating a grasped object by a dexterous multi-fingered robotics hand. The intelligent approached followed here, is to let a learning fuzzy system to approximate a nonlinear force formulation for optimal contact forces. This has been achieved via following two major steps: The first...
To achieve the skillful task like the human, many researchers have been working on robot hand. An interaction with vision and tactile information are indispensable for realization of skillful tasks. In the existing research, the method using a camera to get the vision information is often found. But, in the boundary area of a non-contact phase and a contact phase, there are problem that lack of sensor...
This paper proposes a state identification framework to support the complicated dual-arm operations in construction work. The operational support in construction machinery filed requires the compatibility with different types of support and the commonality among various operator skill levels. The proposed framework is therefore organized into two functions: real-time task phase identification and...
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