Object slippage prevention using different control strategies

Pavel Dzitac*, Abdul Md Mazid, Guy Littlefair, Ashwin Polishetty

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

Abstract

This paper presents experimental results obtained using a friction-based slippage and tangential force sensing device that has been developed for the purpose of reliable object slippage prevention during robotic manipulation. The experimental results obtained demonstrate that the developed slippage sensing strategy is rugged and reliable even in its current "rough prototype" state of development. This work has the potential to yield a low cost and highly customisable slippage and tangential force sensing device for a variety of robotic object grasping and manipulation applications. It is envisaged that the work presented here will be beneficial to researchers in the area of object slippage prevention.

Original languageEnglish
Title of host publicationICINCO
Subtitle of host publicationproceedings of the 13th International Conference on Informatics in Control, Automation and Robotics, vol 1
EditorsOleg Gusikhin, Dimitri Peaucelle, Kurosh Madani
PublisherSciTePress
Pages559-566
Number of pages8
Volume1
Edition1st
ISBN (Print)9789897581984
DOIs
Publication statusPublished - 2016
Event13th International Conference on Informatics in Control, Automation and Robotics (ICINCO) - Lisbon, Portugal
Duration: 29 Jul 201631 Jul 2016

Conference

Conference13th International Conference on Informatics in Control, Automation and Robotics (ICINCO)
CountryPortugal
CityLisbon
Period29/07/1631/07/16

Keywords

  • Robotic Grasping
  • Slippage Sensing
  • Tangential Force Sensing
  • Slippage Detection
  • Slippage Prevention
  • Incipient Slippage
  • Grasp Force Estimation
  • Grasp Force Control
  • Slippage prevention
  • Robotic grasping
  • Incipient slippage
  • Grasp force control
  • Slippage detection
  • Slippage sensing
  • Tangential force sensing
  • Grasp force estimation

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