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 language | English |
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| Title of host publication | ICINCO |
| Subtitle of host publication | proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics, vol 1 |
| Editors | Oleg Gusikhin, Dimitri Peaucelle, Kurosh Madani |
| Publisher | SciTePress |
| Pages | 559-566 |
| Number of pages | 8 |
| Volume | 1 |
| Edition | 1st |
| ISBN (Print) | 9789897581984 |
| DOIs | |
| Publication status | Published - 2016 |
| Event | 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO) - Lisbon, Portugal Duration: 29 Jul 2016 → 31 Jul 2016 |
Conference
| Conference | 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO) |
|---|---|
| Country/Territory | Portugal |
| City | Lisbon |
| Period | 29/07/16 → 31/07/16 |
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