Veiga, Filipe ; Edin, Benoni ; Peters, Jan (2020)
Grip Stabilization through Independent Finger Tactile Feedback Control.
In: Sensors, 20 (6)
doi: 10.3390/s20061748
Artikel, Bibliographie
Dies ist die neueste Version dieses Eintrags.
Kurzbeschreibung (Abstract)
Grip force control during robotic in-hand manipulation is usually modeled as a monolithic task, where complex controllers consider the placement of all fingers and the contact states between each finger and the gripped object in order to compute the necessary forces to be applied by each finger. Such approaches normally rely on object and contact models and do not generalize well to novel manipulation tasks. Here, we propose a modular grip stabilization method based on a proposition that explains how humans achieve grasp stability. In this biomimetic approach, independent tactile grip stabilization controllers ensure that slip does not occur locally at the engaged robot fingers. Local slip is predicted from the tactile signals of each fingertip sensor i.e., BioTac and BioTac SP by Syntouch. We show that stable grasps emerge without any form of central communication when such independent controllers are engaged in the control of multi-digit robotic hands. The resulting grasps are resistant to external perturbations while ensuring stable grips on a wide variety of objects.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2020 |
| Autor(en): | Veiga, Filipe ; Edin, Benoni ; Peters, Jan |
| Art des Eintrags: | Bibliographie |
| Titel: | Grip Stabilization through Independent Finger Tactile Feedback Control |
| Sprache: | Englisch |
| Publikationsjahr: | 2020 |
| Ort: | Basel |
| Verlag: | MDPI |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Sensors |
| Jahrgang/Volume einer Zeitschrift: | 20 |
| (Heft-)Nummer: | 6 |
| Kollation: | 17 Seiten |
| DOI: | 10.3390/s20061748 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Grip force control during robotic in-hand manipulation is usually modeled as a monolithic task, where complex controllers consider the placement of all fingers and the contact states between each finger and the gripped object in order to compute the necessary forces to be applied by each finger. Such approaches normally rely on object and contact models and do not generalize well to novel manipulation tasks. Here, we propose a modular grip stabilization method based on a proposition that explains how humans achieve grasp stability. In this biomimetic approach, independent tactile grip stabilization controllers ensure that slip does not occur locally at the engaged robot fingers. Local slip is predicted from the tactile signals of each fingertip sensor i.e., BioTac and BioTac SP by Syntouch. We show that stable grasps emerge without any form of central communication when such independent controllers are engaged in the control of multi-digit robotic hands. The resulting grasps are resistant to external perturbations while ensuring stable grips on a wide variety of objects. |
| Freie Schlagworte: | in-hand manipulation, modular control, reactive control, tactile feedback, independent finger control, slip prediction |
| Zusätzliche Informationen: | Erstveröffentlichung; This article belongs to the Special Issue Sensors and Robot Control |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 000 Allgemeines, Informatik, Informationswissenschaft > 004 Informatik 600 Technik, Medizin, angewandte Wissenschaften > 610 Medizin, Gesundheit |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Intelligente Autonome Systeme |
| Hinterlegungsdatum: | 15 Mai 2024 14:40 |
| Letzte Änderung: | 15 Mai 2024 14:40 |
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| Suche nach Titel in: | TUfind oder in Google |
Verfügbare Versionen dieses Eintrags
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Grip Stabilization through Independent Finger Tactile Feedback Control. (deposited 16 Jan 2024 10:51)
- Grip Stabilization through Independent Finger Tactile Feedback Control. (deposited 15 Mai 2024 14:40) [Gegenwärtig angezeigt]
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