Friction-based slip detection in robotic grasping

Pavel Dzitac, Abdul Md Mazid, M. Yousef Ibrahim, Gayan Kahandawa Appuhamillage, T. A. Choudhury

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

1 Citation (Scopus)

Abstract

A functional prototype of a friction-based object slippage detection gripper for robotic grasping and manipulation has been designed and built. Object grasping and manipulation experiments have been successfully performed to study the appropriateness of the methodology and the newly built slippage detection gripper. The main advantage of this slippage detection method is that slippage detection is an inherent capability of the sensing element, and not a derived capability like that of sensors based on vibration. This slippage detection and control strategy is simple by design and low in cost, but robust in function. It has the potential to be used in a variety of environments such as high temperatures, low temperatures and underwater. The robustness of the design makes it highly suitable for grasping and manipulating safely a large range of object weights and sizes.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages4871-4874
Number of pages4
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2015
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 9 Nov 201512 Nov 2015

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period9/11/1512/11/15

Keywords

  • slippage detection
  • intelligent grasping
  • robotic manipulation
  • TACTILE SENSOR

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