Friction-based slip detection in robotic grasping

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

doi:10.1109/IECON.2015.7392863

Friction-based slip detection in robotic grasping

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

School of Engineering

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

5 Citations (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 language	English
Title of host publication	IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	4871-4874
Number of pages	4
ISBN (Electronic)	9781479917624
DOIs	https://doi.org/10.1109/IECON.2015.7392863
Publication status	Published - 2015
Event	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan Duration: 9 Nov 2015 → 12 Nov 2015

Other

Other	41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Country/Territory	Japan
City	Yokohama
Period	9/11/15 → 12/11/15

Keywords

slippage detection
intelligent grasping
robotic manipulation
TACTILE SENSOR

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10.1109/IECON.2015.7392863

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title = "Friction-based slip detection in robotic grasping",

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.",

keywords = "slippage detection, intelligent grasping, robotic manipulation, TACTILE SENSOR",

author = "Pavel Dzitac and Mazid, {Abdul Md} and Ibrahim, {M. Yousef} and Appuhamillage, {Gayan Kahandawa} and Choudhury, {T. A.}",

year = "2015",

doi = "10.1109/IECON.2015.7392863",

language = "English",

pages = "4871--4874",

booktitle = "IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society",

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

address = "United States",

note = "41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 ; Conference date: 09-11-2015 Through 12-11-2015",

}

Dzitac, P, Mazid, AM, Ibrahim, MY, Appuhamillage, GK & Choudhury, TA 2015, Friction-based slip detection in robotic grasping. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392863, Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 4871-4874, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 9/11/15. https://doi.org/10.1109/IECON.2015.7392863

Friction-based slip detection in robotic grasping. / Dzitac, Pavel; Mazid, Abdul Md; Ibrahim, M. Yousef et al.
IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2015. p. 4871-4874 7392863.

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

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AU - Mazid, Abdul Md

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AU - Appuhamillage, Gayan Kahandawa

AU - Choudhury, T. A.

PY - 2015

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AB - 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.

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Friction-based slip detection in robotic grasping

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