TY - GEN
T1 - Multifingered robot hand dynamic grasping control based on fingertip three-axis tactile sensor feedback
AU - Zhang, Ting
AU - Fan, Shaowei
AU - Zhao, Jingdong
AU - Jiang, Li
AU - Liu, Hong
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/3/2
Y1 - 2015/3/2
N2 - Dynamic grasping force control for a multi-fingered robot hand is proposed and investigated in this paper. The grasping force of the finger is dynamically adjusted according to the three-axis tactile feedback so that each fingertip force always stays inside the friction cone detected by the fingertip three-axis tactile sensor without any undesired slip nor detaching from the object while grasping it. The proposed method allows real-time control of the hand since it requires few numerical calculations. In order to enable the tactile feedback, a finger-shaped fingertip three-axis tactile sensor using Quantum Tunnelling Composite (QTC) capable of detecting the normal and shear force is developed. Finally, the validity of the proposed method is confirmed experimentally using a multi-fingered robot hand with three-axis tactile sensors.
AB - Dynamic grasping force control for a multi-fingered robot hand is proposed and investigated in this paper. The grasping force of the finger is dynamically adjusted according to the three-axis tactile feedback so that each fingertip force always stays inside the friction cone detected by the fingertip three-axis tactile sensor without any undesired slip nor detaching from the object while grasping it. The proposed method allows real-time control of the hand since it requires few numerical calculations. In order to enable the tactile feedback, a finger-shaped fingertip three-axis tactile sensor using Quantum Tunnelling Composite (QTC) capable of detecting the normal and shear force is developed. Finally, the validity of the proposed method is confirmed experimentally using a multi-fingered robot hand with three-axis tactile sensors.
KW - Dynamic grasping control
KW - Force control
KW - Multifingered robot hand
KW - Three-axis tactile sensor
UR - https://www.scopus.com/pages/publications/84932158783
U2 - 10.1109/WCICA.2014.7053265
DO - 10.1109/WCICA.2014.7053265
M3 - 会议稿件
AN - SCOPUS:84932158783
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 3321
EP - 3326
BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Y2 - 29 June 2014 through 4 July 2014
ER -