A method to control grip force and slippage for robotic object grasping and manipulation

Pavel Dzitac; Abdul Md Mazid

doi:10.1109/MED.2012.6265624

A method to control grip force and slippage for robotic object grasping and manipulation

Pavel Dzitac^*, Abdul Md Mazid

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

11 Citations (Scopus)

Abstract

A grip force and slippage control for robotic object manipulation, based on mechanical friction is presented. This approach allows a load to be held reliably in the robot gripper without application of excessive forces or allowing uncontrolled slippage. It is a simple, robust and low cost solution, and could be used for applications where low cost integrated grip force and slippage control are needed. This solution could be customized to provide reliable grip force and slippage control for light, medium or heavy load holding applications for a variety of different objects.

Original language	English
Title of host publication	2012 20th Mediterranean Conference on Control and Automation (MED)
Subtitle of host publication	MED 2012 : conference proceedings
Editors	B. Morcego, F. Nejjari, R. Pérez, J. Quevedo, R. Sarrate, S. Tornil
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	116-121
Number of pages	6
ISBN (Electronic)	9781467325318, 9781467325295
ISBN (Print)	9781467325301
DOIs	https://doi.org/10.1109/MED.2012.6265624
Publication status	Published - 2012
Externally published	Yes
Event	2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Barcelona, Spain Duration: 3 Jul 2012 → 6 Jul 2012

Other

Other	2012 20th Mediterranean Conference on Control and Automation, MED 2012
Country/Territory	Spain
City	Barcelona
Period	3/07/12 → 6/07/12

Keywords

slippage
grasp

Access to Document

10.1109/MED.2012.6265624

Cite this

Dzitac, P., & Mazid, A. M. (2012). A method to control grip force and slippage for robotic object grasping and manipulation. In B. Morcego, F. Nejjari, R. Pérez, J. Quevedo, R. Sarrate, & S. Tornil (Eds.), 2012 20th Mediterranean Conference on Control and Automation (MED): MED 2012 : conference proceedings (pp. 116-121). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/MED.2012.6265624

Dzitac, Pavel ; Mazid, Abdul Md. / A method to control grip force and slippage for robotic object grasping and manipulation. 2012 20th Mediterranean Conference on Control and Automation (MED): MED 2012 : conference proceedings. editor / B. Morcego ; F. Nejjari ; R. Pérez ; J. Quevedo ; R. Sarrate ; S. Tornil. Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE), 2012. pp. 116-121

@inproceedings{27b77560585240a2aa271e7f4b1f266a,

title = "A method to control grip force and slippage for robotic object grasping and manipulation",

abstract = "A grip force and slippage control for robotic object manipulation, based on mechanical friction is presented. This approach allows a load to be held reliably in the robot gripper without application of excessive forces or allowing uncontrolled slippage. It is a simple, robust and low cost solution, and could be used for applications where low cost integrated grip force and slippage control are needed. This solution could be customized to provide reliable grip force and slippage control for light, medium or heavy load holding applications for a variety of different objects.",

keywords = "slippage, grasp",

author = "Pavel Dzitac and Mazid, {Abdul Md}",

year = "2012",

doi = "10.1109/MED.2012.6265624",

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booktitle = "2012 20th Mediterranean Conference on Control and Automation (MED)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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Dzitac, P & Mazid, AM 2012, A method to control grip force and slippage for robotic object grasping and manipulation. in B Morcego, F Nejjari, R Pérez, J Quevedo, R Sarrate & S Tornil (eds), 2012 20th Mediterranean Conference on Control and Automation (MED): MED 2012 : conference proceedings. Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 116-121, 2012 20th Mediterranean Conference on Control and Automation, MED 2012, Barcelona, Spain, 3/07/12. https://doi.org/10.1109/MED.2012.6265624

A method to control grip force and slippage for robotic object grasping and manipulation. / Dzitac, Pavel; Mazid, Abdul Md.
2012 20th Mediterranean Conference on Control and Automation (MED): MED 2012 : conference proceedings. ed. / B. Morcego; F. Nejjari; R. Pérez; J. Quevedo; R. Sarrate; S. Tornil. Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2012. p. 116-121.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

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AB - A grip force and slippage control for robotic object manipulation, based on mechanical friction is presented. This approach allows a load to be held reliably in the robot gripper without application of excessive forces or allowing uncontrolled slippage. It is a simple, robust and low cost solution, and could be used for applications where low cost integrated grip force and slippage control are needed. This solution could be customized to provide reliable grip force and slippage control for light, medium or heavy load holding applications for a variety of different objects.

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DO - 10.1109/MED.2012.6265624

M3 - Conference proceeding contribution

AN - SCOPUS:84866887493

SN - 9781467325301

SP - 116

EP - 121

BT - 2012 20th Mediterranean Conference on Control and Automation (MED)

A2 - Morcego, B.

A2 - Nejjari, F.

A2 - Pérez, R.

A2 - Quevedo, J.

A2 - Sarrate, R.

A2 - Tornil, S.

PB - Institute of Electrical and Electronics Engineers (IEEE)

CY - Piscataway, NJ

T2 - 2012 20th Mediterranean Conference on Control and Automation, MED 2012

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Dzitac P, Mazid AM. A method to control grip force and slippage for robotic object grasping and manipulation. In Morcego B, Nejjari F, Pérez R, Quevedo J, Sarrate R, Tornil S, editors, 2012 20th Mediterranean Conference on Control and Automation (MED): MED 2012 : conference proceedings. Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE). 2012. p. 116-121 doi: 10.1109/MED.2012.6265624

A method to control grip force and slippage for robotic object grasping and manipulation

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