Friction-based slippage and tangential force detection in robotic grasping

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

doi:10.1109/IECON.2015.7392864

Friction-based slippage and tangential force detection in robotic grasping

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

School of Engineering

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

1 Citation (Scopus)

Abstract

This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads.

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	4875-4879
Number of pages	5
ISBN (Electronic)	9781479917624
DOIs	https://doi.org/10.1109/IECON.2015.7392864
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

Intelligent grasping
slippage detection
robotic gripper
robotic manipulator
tactile sensing

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10.1109/IECON.2015.7392864

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Dzitac, P., Mazid, A. M., Ibrahim, M. Y., Choudhury, T. A., & Appuhamillage, G. K. (2015). Friction-based slippage and tangential force detection in robotic grasping. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 4875-4879). Article 7392864 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/IECON.2015.7392864

@inproceedings{8382243e06ac492a9d7bca6d9541ede2,

title = "Friction-based slippage and tangential force detection in robotic grasping",

abstract = "This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads.",

keywords = "Intelligent grasping, slippage detection, robotic gripper, robotic manipulator, tactile sensing",

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

year = "2015",

doi = "10.1109/IECON.2015.7392864",

language = "English",

pages = "4875--4879",

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, Choudhury, TA & Appuhamillage, GK 2015, Friction-based slippage and tangential force detection in robotic grasping. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392864, Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 4875-4879, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 9/11/15. https://doi.org/10.1109/IECON.2015.7392864

Friction-based slippage and tangential force 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. 4875-4879 7392864.

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

TY - GEN

T1 - Friction-based slippage and tangential force detection in robotic grasping

AU - Dzitac, Pavel

AU - Mazid, Abdul Md

AU - Ibrahim, M. Yousef

AU - Choudhury, T. A.

AU - Appuhamillage, Gayan Kahandawa

PY - 2015

Y1 - 2015

N2 - This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads.

AB - This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads.

KW - Intelligent grasping

KW - slippage detection

KW - robotic gripper

KW - robotic manipulator

KW - tactile sensing

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DO - 10.1109/IECON.2015.7392864

M3 - Conference proceeding contribution

AN - SCOPUS:84973100786

SP - 4875

EP - 4879

BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

PB - Institute of Electrical and Electronics Engineers (IEEE)

CY - Piscataway, NJ

T2 - 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015

Y2 - 9 November 2015 through 12 November 2015

ER -

Friction-based slippage and tangential force detection in robotic grasping

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